A double-row side-mounted lettuce harvester

Abstract

The application discloses a double-row side-hung lettuce harvester, and belongs to the technical field of agricultural machinery. In order to solve the problem that the existing harvester has poor righting ability and does not consider the protection of the top tender leaves of the lettuce during the leaf peeling process, and the economic value of the lettuce is easily damaged during the harvesting, the harvester comprises a conveying mechanism, a chassis, a lettuce old leaf peeling mechanism and two cutting mechanisms. The conveying mechanism is arranged at the center of the chassis. The top of the conveying mechanism is provided with two discharge ends. The bottom of the conveying mechanism is provided with two feeding ends. Each feeding end in the conveying mechanism is arranged in correspondence with one discharge end. The lettuce old leaf peeling mechanism is arranged at the front side of the conveying mechanism. The two discharge ends at the top of the conveying mechanism are arranged in correspondence with the top feeding end of the lettuce old leaf peeling mechanism. The two cutting mechanisms are symmetrically arranged at the two sides of the conveying mechanism. The discharge end of each cutting mechanism is arranged in correspondence with one feeding end at the bottom of the conveying mechanism. The application is mainly used as a lettuce harvesting and leaf peeling harvester.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to a double-row side-mounted lettuce harvester. Background Technology

[0002] Lettuce is one of my country's major vegetable crops. In Sichuan Province alone, the total area under lettuce cultivation reaches 1.32 million mu (approximately 88,000 hectares), with an annual output of 3.85 million tons. Like other vegetables, lettuce production is labor-intensive, with labor costs accounting for the largest proportion of production costs, reaching about 50%. The summer harvest period for lettuce is also the period of most rapid bolting. If not harvested in time, the plants will harden and even become hollow after bolting, greatly affecting the yield and quality of the lettuce. Therefore, the promotion and application of mechanized vegetable production technology is very necessary. The research and development and testing of lettuce harvesters are imminent. The existing patent application No. 202311530825.X discloses a fully automatic photovoltaic charging new energy lettuce harvesting, defoliating and bundling integrated machine. This integrated machine uses computer vision to accurately measure the width of the lettuce ridge and the height of the lettuce root, and automatically adjusts to the optimal position. However, this lettuce harvester is more suitable for large-area and dense lettuce experimental fields. Due to the weak uprighting ability of the device, instability is very likely to occur during the cutting process. In addition, the lettuce leaf peeling mechanism in the device is a circular thin plate, which does not consider the protection of the tender leaves at the top of the lettuce, which can easily damage the economic value of the lettuce during harvesting. Based on the shortcomings of the existing technology, it is very much in line with the actual requirements to develop a harvester with uprighting ability and the ability to protect the tender leaves at the top of the lettuce during the leaf peeling process. Summary of the Invention

[0003] In order to solve the problems of poor uprighting ability of existing harvesters and failure to consider the protection of tender leaves at the top of lettuce during the leaf peeling process, which easily damages the economic value of lettuce during harvesting, this invention provides a double-row side-mounted lettuce harvester.

[0004] A double-row side-mounted lettuce harvester includes a conveying mechanism, a chassis, a lettuce old leaf removal mechanism, and two cutting mechanisms. The conveying mechanism is located at the center of the chassis and is detachably connected to the chassis. The top of the conveying mechanism has two discharge ends, and the bottom of the conveying mechanism has two feed ends, with each feed end corresponding to one discharge end. The lettuce old leaf removal mechanism is located on the front side of the conveying mechanism and is detachably connected to the chassis. The two discharge ends at the top of the conveying mechanism correspond to the top feed ends of the lettuce old leaf removal mechanism. The two cutting mechanisms are symmetrically arranged on both sides of the conveying mechanism, and each cutting mechanism is detachably connected to the chassis. The discharge end of each cutting mechanism corresponds to one feed end at the bottom of the conveying mechanism.

[0005] Furthermore, the chassis includes a frame, a central support plate, a rear drive unit, and two front suspensions. The front end of the frame is provided with an extension auxiliary frame, which is located at the center of the front end of the frame and is fixedly connected to the frame. The two front suspensions are arranged opposite to each other on both sides of the extension auxiliary frame, and each front suspension is hinged to the extension auxiliary frame. The rear drive unit is arranged on the lower surface of the rear end of the frame and is detachably connected to the frame. The central support plate is arranged in the frame and is fixedly connected to the frame. The transmission mechanism is arranged on the central support plate, and the bottom of the transmission mechanism is detachably connected to the top of the central support plate. The top of the frame is provided with a mounting auxiliary frame, which is correspondingly matched with the transmission mechanism. The mounting auxiliary frame is fixedly connected to the frame, and the side of the transmission mechanism is detachably connected to the mounting auxiliary frame of the frame.

[0006] The extension frame has a double-layer structure. The bottom layer of the extension frame has a bottom mounting plate, and the top layer of the extension frame has a top mounting plate. Both the bottom mounting plate and the top mounting plate are fixedly connected to the extension frame.

[0007] The extension bracket has a three-layer structure. The bottom layer of the extension bracket is provided with a bottom mounting plate, the middle layer of the extension bracket is provided with a middle mounting plate, and both the bottom mounting plate and the middle mounting plate are fixedly connected to the extension bracket. The steering servo is located on the top of the middle mounting plate, and the housing of the steering servo is fixedly connected to the middle mounting plate. The steering system is located on the top of the bottom mounting plate, and the power output end of the steering servo passes through the middle mounting plate and is connected to the torque input end of the steering system. The torque output end of the steering system is connected to the two front suspensions.

[0008] The front suspension includes a C-type steering cup, an A-type steering cup, a shock absorber, an upper control arm, a lower control arm, a front wheel, and a steering rod. The upper control arm is located between the middle mounting plate and the C-type steering cup. One end of the upper control arm is hinged to one end of the middle mounting plate, and the other end of the upper control arm is hinged to the upper part of the C-type steering cup. The lower control arm is located below the upper control arm, and one end of the lower control arm is hinged to one end of the bottom mounting plate, and the other end of the lower control arm is hinged to the lower part of the C-type steering cup. The shock absorber is located on the lower control arm, and one end of the shock absorber is hinged to the lower control arm. The other end of the shock absorber extends to the top frame of the auxiliary frame and is hinged. The A-type steering cup is installed on the side of the C-type steering cup away from the extended auxiliary frame. The steering rod is located between the A-type steering cup and the steering system. One end of the steering rod is hinged to the torque output end of the steering system, and the other end of the steering rod is hinged to the A-type steering cup of the steering system. The front wheel is located on the side of the A-type steering cup away from the C-type steering cup, and the front wheel is mounted on the rotating shaft in the A-type steering cup.

[0009] The rear drive unit includes two rear drive components, which are symmetrically arranged on the lower surface of the rear end of the frame along the centerline of the frame width direction. Each rear drive component is detachably connected to the frame. Each rear drive component includes a rear wheel drive motor, a rear wheel mounting bracket, a rear wheel mounting frame, a rear wheel, two second-generation shock absorber springs, and two rear wheel hinge assemblies. The rear wheel mounting bracket is detachably connected to the frame. The rear wheel drive motor is housed in the rear wheel mounting bracket, with its power output end facing outwards from the frame. One rear wheel mounting frame is correspondingly mounted on the power output of one rear wheel drive motor. On the housing of the end, two rear wheel hinge groups are respectively set on both sides of the rear wheel mounting frame. Each rear wheel hinge group includes two horizontally set rear wheel hinge rods. One end of each rear wheel hinge rod is hinged to the rear wheel mounting bracket, and the other end of each rear wheel hinge rod is hinged to the rear wheel mounting frame. Two No. 2 shock absorber springs are symmetrically set on both sides of the rear wheel mounting frame in the vertical direction. The top end of each No. 2 shock absorber spring is fixedly connected to the bottom of the frame, and the bottom end of each No. 2 shock absorber spring is fixedly connected to the rear wheel mounting frame. The rear wheel is set on the outside of the rear wheel mounting frame, and the rear wheel is fitted on the power output end of the rear wheel drive motor.

[0010] Furthermore, the cutting mechanism includes an auxiliary conveying unit, a straightening frame, a straightening unit, and a cutting unit. The straightening frame is located on one side of the conveying mechanism, and the bottom of the straightening frame is detachably connected to the side of the frame. The auxiliary conveying unit, the straightening unit, and the cutting unit are all located in the straightening frame. The auxiliary conveying unit is located away from the conveying mechanism and is detachably connected to the straightening frame. The straightening unit is located at the bottom of the feed inlet of the straightening frame and is detachably connected to the straightening frame. The cutting unit is located behind the straightening unit and is detachably connected to the straightening frame. The bottom cutting end of the cutting unit extends to the bottom of the straightening frame.

[0011] The auxiliary conveying unit includes a top connecting plate, a power motor, a coupling, a drive pulley, a bottom connecting plate, a middle connecting plate, a driven pulley, and a transmission belt. The top connecting plate, middle connecting plate, and bottom connecting plate are arranged parallel to each other from top to bottom. The top connecting plate is detachably connected to the top of the straightening frame, the middle connecting plate is detachably connected to the middle of the straightening frame, and the bottom connecting plate is detachably connected to the bottom of the straightening frame. The power motor is inverted between the top connecting plate and the middle connecting plate, and its fixing component is fixedly connected to the lower surface of the top connecting plate. The drive pulley and driven pulley are arranged between the middle connecting plate and the bottom connecting plate, with the drive pulley located directly below the power motor. The top of the wheel axle passes through the middle connecting plate and is connected to the output shaft of the power motor through a coupling. The upper part of the axle of the driving pulley is rotatably connected to the middle connecting plate through a bearing, and the lower part of the axle of the driving pulley is rotatably connected to the bottom connecting plate through a bearing. The driven pulley is set on one side of the driving pulley, and the axis of the driven pulley is parallel to the axis of the driving pulley. The upper part of the axle of the driven pulley is rotatably connected to the middle connecting plate through a bearing, and the lower part of the axle of the driven pulley is rotatably connected to the bottom connecting plate through a bearing. The transmission belt is fitted on the driving pulley and the driven pulley, and the transmission belt is tensioned to the driving pulley and the driven pulley. Multiple brushes are equidistantly arranged along the circumference on the outer circumferential surface of the transmission belt, and each brush is fixedly connected to the transmission belt.

[0012] The straightening unit includes two straightening plates, which are arranged opposite to each other, and each straightening plate is detachably connected to the bottom of the feed inlet side of the straightening frame;

[0013] The cutting unit includes a cutting installation bracket, a limiting trip bar, and two cutting components. The cutting installation bracket is located on the rear side of the two straightening plates and is detachably connected to the straightening frame. A limiting trip bar is horizontally placed on the rear side of the cutting installation bracket and is fixedly connected to the straightening frame. Both cutting components are located in the cutting installation bracket and are symmetrically arranged along the center line of the length direction of the cutting installation bracket. The gap between the two cutting components corresponds to the material feeding gap between the two straightening plates. Each cutting component is detachably connected to one inner wall of the cutting installation bracket, and the bottom cutting end of each cutting component extends to the bottom of the straightening frame.

[0014] The cutting assembly includes a flange coupling, a cutting blade, and a cutting motor. The housing of the cutting motor is detachably connected to the inner wall of one side of the cutting mounting bracket. The power output end of the cutting motor is set vertically downward. The flange coupling is fitted onto the power output end of the cutting motor, and the cutting blade is fitted onto the flange coupling.

[0015] Furthermore, the conveying mechanism includes a drive motor assembly, a support frame, two conveying tables, two conveying units, and two guide rail units. The bottom of the support frame is inserted into the frame, and the bottom of the support frame is detachably connected to the middle support plate. The side of the support frame is detachably connected to the mounting bracket. The drive motor assembly is located at the inner top of the support frame, and the mounting part of the drive motor assembly is detachably connected to the support frame. The drive motor assembly has two power output ends, and each power output end is oriented towards a cutting mechanism. The two conveying units are symmetrically arranged in the support frame along the center line of the width direction of the support frame. The top of each conveying unit is mounted on one of the power output ends of the drive motor assembly, and the bottom of each conveying unit is fitted onto the support shaft assembly at the lower part of the support frame. The two guide rail units are symmetrically arranged on the outside of the support frame along the center line of the width direction of the support frame, and both guide rail units are fixedly connected to the support frame. Each conveying table is correspondingly mounted on a guide rail unit, and each conveying table is slidably connected to the guide rail unit it belongs to. Each conveying table is fixedly connected to the corresponding conveying unit.

[0016] The drive motor assembly includes a motor mounting plate, a motor connector, two motor side plates, two sprocket motors, and two sprocket mounting sleeves. The motor mounting plate is located on the inner top of the support frame and is detachably connected to the support frame. The two motor side plates are symmetrically arranged on the motor mounting plate along the centerline of the support frame's width direction, and each motor side plate is detachably connected to the motor mounting plate. Each sprocket motor is correspondingly located on the inner side of one motor side plate, and the housing of the sprocket motor is detachably connected to the corresponding motor side plate. The power output shaft of each sprocket motor passes through the motor side plate and extends to the outer side of the motor side plate. A sprocket mounting sleeve is provided on the outer side of each motor side plate, and each sprocket mounting sleeve is correspondingly fitted onto the power output shaft of one sprocket motor. A motor connector is provided between the two sprocket motors, and the motor connector is fixedly connected to the housings of both sprocket motors.

[0017] The transmission unit includes a drive sprocket, a driven sprocket, and a chain. The drive sprocket is mounted on a sprocket mounting sleeve. The driven sprocket is located directly below the drive sprocket and is mounted on a support shaft assembly at the bottom of the support frame. The chain is mounted on the drive sprocket and the driven sprocket. A shaft hole connecting block is provided on the outer circumference of the chain, and the shaft hole connecting block is fixedly connected to the chain.

[0018] The support shaft assembly is located directly below the drive motor assembly. The support shaft assembly includes a central connecting block, two rotating shafts, two shaft mounting seats, and two rotating bearings. The two shaft mounting seats are located on both sides of the central connecting block, and the tops of the central connecting block and the two shaft mounting seats are detachably connected to the support frame. Each rotating shaft is inserted into a shaft mounting seat, and each rotating shaft is rotatably connected to its corresponding shaft mounting seat through a rotating bearing. The end of the rotating shaft away from the central connecting block extends to the outside of its corresponding shaft mounting seat and is inserted into a driven sprocket.

[0019] The guide rail unit includes two guide rail sliders and two guide rails. The two guide rails are symmetrically arranged on the outer wall of the long side of the support frame along the center line of the support frame length direction. Each guide rail is detachably connected to the support frame. Each guide rail slider is correspondingly arranged on one guide rail, and each guide rail slider is slidably connected to the guide rail it belongs to.

[0020] The conveyor includes a movable plate, a movable frame, a connecting shaft, and two lettuce limiting baffles. The movable frame is located on the front side of the two guide rail sliders and is fixedly connected to the two guide rail sliders. The movable plate is embedded in the movable frame and is slidably connected to the movable frame. The connecting shaft is located on the back side of the movable plate, and one end of the connecting shaft is rotatably connected to the movable plate through a bearing. The other end of the connecting shaft is inserted into a shaft hole connecting block located on the outer circle surface of the chain. The two lettuce limiting baffles are located on the front side of the movable plate, and each lettuce limiting baffle is detachably connected to the movable plate.

[0021] The position of the lettuce limiting baffle closer to the front end of the harvester should be lower than the position of the lettuce limiting baffle closer to the rear end of the harvester.

[0022] Furthermore, the lettuce leaf removal mechanism includes an upper guide unit, a gravity buffer unit, a leaf-peeling auxiliary frame, a leaf-peeling and clamping unit, and a storage trough. The leaf-peeling auxiliary frame is located on the front side of the conveying mechanism, and the bottom of the leaf-peeling auxiliary frame is detachably connected to the top of the frame. The upper guide unit is installed on the top of the leaf-peeling auxiliary frame. The gravity buffer unit is arranged vertically inside the leaf-peeling auxiliary frame and is located away from the conveying mechanism. The mounting side of the gravity buffer unit is detachably connected to the inner wall of the leaf-peeling auxiliary frame. The leaf-peeling and clamping unit is located below the upper guide unit and is located between the gravity buffer unit and the conveying mechanism. The mounting part of the leaf-peeling and clamping unit is detachably connected to the inner wall of the leaf-peeling auxiliary frame. The storage trough is located below the leaf-peeling and clamping unit and is embedded in the frame.

[0023] The upper guide unit includes a tilting groove plate, a pressure sensor, a first servo motor, a limiting constraint groove plate, a fixed plate, and two ramps. The fixed plate is located on top of the leaf-stripping auxiliary frame and is detachably connected to it. A swing notch is machined on the side of the fixed plate facing the conveying mechanism. The limiting constraint groove plate is vertically mounted on the fixed plate and is located directly in front of the closed end of the swing notch. The bottom of the limiting constraint groove plate is fixedly connected to the fixed plate. The first servo motor is located on one side of the swing notch, and its housing is attached to the fixed plate. The top is fixedly connected, the power output end of the first servo is set towards the swing notch, the flip groove plate is set directly above the swing notch, and one end of the flip groove plate is connected to the power output end of the first servo. The pressure sensor is set on the inner wall of the flip groove plate, and the signal output end of the pressure sensor is connected to the control end of the first servo. Two ramp plates are symmetrically set above the fixed plate along the center line of the width direction of the flip groove plate, and both ramp plates are inclined towards the flip groove plate. Each ramp plate is fixedly connected to the extended longitudinal prism at the top of the leaf stripping auxiliary frame.

[0024] The gravity buffer unit includes an upper limiting sleeve, a sliding guide plate, a second servo motor, a first crank, a second crank, a bottom hopper, and two buffer slide rails. The sliding guide plate is vertically arranged in the leaf-stripping auxiliary frame and is fixedly connected to the inner wall of the leaf-stripping auxiliary frame on the side away from the conveying mechanism. A guide groove is machined in the middle of the sliding guide plate along its length. The upper limiting sleeve and the bottom hopper are both located on the front side of the sliding guide plate, with the upper limiting sleeve directly above the bottom hopper. The upper limiting sleeve and the bottom hopper are connected by a cross slider. The two buffer slide rails are symmetrically arranged on the front side of the sliding guide plate along the centerline of the guide groove width direction. The slide rail is fixedly connected to the sliding guide plate. The cross slider is set on two buffer slide rails and is slidably connected to the two buffer slide rails. A sliding drive shaft is provided on the back side of the cross slider. One end of the sliding drive shaft is fixedly connected to the back side of the cross slider. The other end of the sliding drive shaft passes through the guide groove and extends to the back side of the sliding guide plate. The second servo is set on the back side of the sliding guide plate. The housing of the second servo is detachably connected to the leaf stripping bracket. The power output shaft of the second servo faces the sliding guide plate. One end of the first crank is fitted on the power output shaft of the second servo. One end of the second crank is hinged to the other end of the first crank. The other end of the second crank is fitted on the other end of the sliding drive shaft.

[0025] The leaf stripping and clamping unit includes two clamping assemblies, which are arranged opposite each other on both sides of the gravity buffer unit. Each clamping assembly is detachably connected to the inner wall of the leaf stripping auxiliary frame. Each clamping assembly includes a drive motor, a lead screw coupling, a lead screw, leaf stripping grippers, a thrust motor, a clamping mounting plate, and a lead screw sliding block. The clamping mounting plate is detachably connected to the inner wall of the leaf stripping auxiliary frame. The lead screw is mounted on the inner wall of the clamping mounting plate via a lead screw bracket, and one end of the lead screw is connected to the power output shaft of the drive motor via a lead screw coupling. The housing of the drive motor is detachably connected to the leaf stripping auxiliary frame. The lead screw sliding block is sleeved on the lead screw and is slidably connected to the lead screw. The thrust motor is mounted on the lead screw sliding block, and its housing is detachably connected to the lead screw sliding block. The leaf stripping grippers are mounted on the piston rod end of the thrust motor and are detachably connected to the piston rod end.

[0026] The beneficial effects of this application compared to the prior art are:

[0027] This application proposes a double-row side-mounted lettuce harvester, which optimizes the existing lettuce harvesters' commonly used inclined or horizontal conveying methods to a vertical conveying method. This reduces the space occupied by the device, makes the structure more compact, and improves the overall space utilization of the device. The harvester provided by this application is a double-row side-mounted lettuce harvester, which can simultaneously harvest two rows of lettuce. Compared with traditional large multi-row harvesting equipment, it is more suitable for regional planting. In addition, the cutting mechanism of this application is equipped with a straightening unit, which can directly cut the lettuce with the cutting blade when the device is moving. With the cooperation of the brush conveyor belt and the bottom limiting beam, the position of the lettuce is directly adjusted. The whole process is very simple and smooth, which makes it easy for the upright lettuce to lie on its side on the conveying mechanism. The conveying mechanism adopts a differential conveying method, which allows the lettuce harvested from both rows to be transported alternately to the leaf-peeling unit, effectively preventing the lettuce from piling up after harvesting and ensuring the smooth operation of the harvester.

[0028] This application proposes a double-row side-mounted lettuce harvester, which employs a novel leaf-removing method that can remove old leaves while retaining new top leaves, maximizing the economic value of the lettuce harvest. The lettuce old leaf removal mechanism in this application includes a top guide unit, a gravity buffer unit, and a leaf-removing and clamping unit. The top guide unit guides the lettuce conveyed by the conveyor mechanism into the central flipping groove plate, and through the flipping groove plate, the lettuce slides into the gravity buffer unit, where it is clamped by the leaf-removing and clamping unit. The leaf-removing method adopts a "lettuce moves, blade remains stationary" working mode. The gravity buffer unit drives the lettuce to move longitudinally back and forth, and the old leaves on the lettuce are removed along with the relative displacement between the lettuce and the clamping blade. This process can strictly control the leaf-removing distance and range of the blade to ensure the goal of "removing old leaves and retaining new ones". Attached Figure Description

[0029] Figure 1 This is an overall schematic diagram of the double-row side-mounted lettuce harvester described in this application;

[0030] Figure 2 This is a schematic diagram of the bottom plate structure of the double-row side-mounted lettuce harvester described in this application;

[0031] Figure 3 This is a schematic diagram of the front suspension structure in the double-row side-mounted lettuce harvester described in this application;

[0032] Figure 4 This is a front view schematic diagram of the front suspension in the double-row side-mounted lettuce harvester described in this application;

[0033] Figure 5 This is a schematic diagram of the steering system in the double-row side-mounted lettuce harvester described in this application;

[0034] Figure 6 This is a schematic diagram of the rear drive unit in the double-row side-mounted lettuce harvester described in this application;

[0035] Figure 7 This is a schematic diagram of the cutting mechanism in the double-row side-mounted lettuce harvester described in this application;

[0036] Figure 8 This is a schematic diagram of the cutting unit in the double-row side-mounted lettuce harvester described in this application;

[0037] Figure 9 This is a schematic diagram of the auxiliary conveying unit in the double-row side-mounted lettuce harvester described in this application;

[0038] Figure 10 This is a schematic diagram of the uprighting unit in the double-row side-mounted lettuce harvester described in this application;

[0039] Figure 11 This is a schematic diagram of the lettuce old leaf removal mechanism in the double-row side-mounted lettuce harvester described in this application;

[0040] Figure 12 This is a schematic diagram of the leaf-peeling and clamping unit in the double-row side-mounted lettuce harvester described in this application;

[0041] Figure 13 This is a schematic diagram of the gravity buffer unit in the double-row side-mounted lettuce harvester described in this application;

[0042] Figure 14 This is a rear view schematic diagram of the gravity buffer unit in the double-row side-mounted lettuce harvester described in this application;

[0043] Figure 15This is a schematic diagram of the storage trough in the double-row side-mounted lettuce harvester described in this application;

[0044] Figure 16 This is a schematic diagram of the leaf-peeling auxiliary frame in the double-row side-mounted lettuce harvester described in this application;

[0045] Figure 17 This is a schematic diagram of the upper guide unit of the double-row side-mounted lettuce harvester described in this application;

[0046] Figure 18 This is a top view of the upper guide unit of the double-row side-mounted lettuce harvester described in this application;

[0047] Figure 19 This is a schematic diagram of the conveying mechanism in the double-row side-mounted lettuce harvester described in this application;

[0048] Figure 20 This is a schematic diagram of the conveyor platform in the double-row side-mounted lettuce harvester described in this application;

[0049] Figure 21 This is a schematic diagram of the drive motor assembly in the double-row side-mounted lettuce harvester described in this application;

[0050] Figure 22 This is a schematic diagram of the support shaft assembly in the double-row side-mounted lettuce harvester described in this application;

[0051] Figure 23 This is a schematic diagram of the structure of the lettuce limiting baffle in the double-row side-mounted lettuce harvester described in this application;

[0052] Figure 24 This is a schematic diagram of the lettuce guide groove in the double-row side-mounted lettuce harvester described in this application. Detailed Implementation

[0053] Specific implementation method one: Combining Figures 1 to 23This embodiment describes a double-row side-mounted lettuce harvester, characterized in that: the harvester includes a conveying mechanism 72, a chassis 74, a lettuce old leaf removal mechanism 75, and two cutting mechanisms 73. The conveying mechanism 72 is located at the center of the chassis 74 and is detachably connected to the chassis 74. The top of the conveying mechanism 72 has two discharge ends, and the bottom of the conveying mechanism 72 has two feed ends, with each feed end corresponding to one discharge end. The lettuce old leaf removal mechanism 75 is located on the front side of the conveying mechanism 72 and is detachably connected to the chassis 74. The two discharge ends at the top of the conveying mechanism 72 correspond to the top feed ends of the lettuce old leaf removal mechanism 75. The two cutting mechanisms 73 are symmetrically arranged on both sides of the conveying mechanism 72, and each cutting mechanism 73 is detachably connected to the chassis 74. The discharge end of each cutting mechanism 73 corresponds to one feed end at the bottom of the conveying mechanism 72.

[0054] This application adopts a dual-cutting mechanism 73 to simultaneously perform cutting actions, achieving efficient double-row harvesting and improving the harvesting efficiency of lettuce. At the same time, the conveying mechanism 72 of this application adopts a differential speed conveying method, ensuring that the lettuce after the two rows of harvesting can enter the lettuce old leaf removal mechanism 75 in turn, so that the lettuce old leaf removal mechanism 75 can peel the leaves off the lettuce one by one, avoiding the situation of "accepting all comers" and ensuring the smoothness of the device's harvesting and leaf removal.

[0055] Specific Implementation Method Two: Combining Figures 1 to 23 This embodiment differs from specific embodiment one in that the chassis 74 includes a frame 2, a central support plate 3, a rear drive unit 4, and two front suspensions 1. The front end of the frame 2 is provided with an extension auxiliary frame, which is located at the center of the front end of the frame 2 and is fixedly connected to the frame 2. The two front suspensions 1 are arranged opposite to each other on both sides of the extension auxiliary frame, and each front suspension 1 is hinged to the extension auxiliary frame. The rear drive unit 4 is arranged on the lower surface of the rear end of the frame 2 and is detachably connected to the frame 2. The central support plate 3 is arranged in the frame 2 and is fixedly connected to the frame 2. The conveying mechanism 72 is arranged on the central support plate 3, and the bottom of the conveying mechanism 72 is detachably connected to the top of the central support plate 3. The top of the frame 2 is provided with an mounting auxiliary frame, which is correspondingly matched with the conveying mechanism 72 and is fixedly connected to the frame 2. The side of the conveying mechanism 72 is detachably connected to the mounting auxiliary frame of the frame 2.

[0056] The extension frame has a double-layer structure. The bottom layer of the extension frame has a bottom mounting plate, and the top layer of the extension frame has a top mounting plate. Both the bottom mounting plate and the top mounting plate are fixedly connected to the extension frame.

[0057] The extension bracket has a three-layer structure. The bottom layer of the extension bracket is provided with a bottom mounting plate 78, and the middle layer of the extension bracket is provided with a middle mounting plate 79. Both the bottom mounting plate 78 and the middle mounting plate 79 are fixedly connected to the extension bracket. The steering servo 7 is located on the top of the middle mounting plate 79, and the housing of the steering servo 7 is fixedly connected to the middle mounting plate 79. The steering system 8 is located on the top of the bottom mounting plate 78, and the power output end of the steering servo 7 passes through the middle mounting plate 79 and is connected to the torque input end of the steering system 8. The torque output end of the steering system 8 is connected to the two front suspensions 1.

[0058] The front suspension 1 includes a C-shaped steering cup 5, an A-shaped steering cup 6, a shock absorber 9, an upper control arm 10, a lower control arm 11, a front wheel 12, and a steering rod 77. The upper control arm 10 is positioned between the middle mounting plate 79 and the C-shaped steering cup 5. One end of the upper control arm 10 is hinged to one end of the middle mounting plate 79, and the other end is hinged to the upper part of the C-shaped steering cup 5. The lower control arm 11 is positioned below the upper control arm 10, with one end hinged to one end of the bottom mounting plate 78 and the other end hinged to the lower part of the C-shaped steering cup 5. The shock absorber 9... The shock absorber 9 is mounted on the lower control arm 11, and one end of the shock absorber 9 is hinged to the lower control arm 11. The other end of the shock absorber 9 is hinged to the top frame of the extension bracket. The A-type steering cup 6 is mounted on the side of the C-type steering cup 5 away from the extension bracket. The steering rod 77 is located between the A-type steering cup 6 and the steering system 8. One end of the steering rod 77 is hinged to the torque output end of the steering system 8. The other end of the steering rod 77 is hinged to the A-type steering cup 6 of the steering system 8. The front wheel 12 is located on the side of the A-type steering cup 6 away from the C-type steering cup 5, and the front wheel 12 is mounted on the rotating shaft in the A-type steering cup 6.

[0059] The rear drive unit 4 includes two rear drive components, which are symmetrically arranged on the lower surface of the rear end of the frame 2 along the centerline of the width direction of the frame 2. Each rear drive component is detachably connected to the frame 2. Each rear drive component includes a rear wheel drive motor 13, a rear wheel mounting bracket 14, a rear wheel mounting frame 17, a rear wheel 18, two second-order shock absorber springs 15, and two rear wheel hinge groups 16. The rear wheel mounting bracket 14 is detachably connected to the frame 2. The rear wheel drive motor 13 is disposed in the rear wheel mounting bracket 14, and the power output end of the rear wheel drive motor 13 faces outward from the frame 2. One rear wheel mounting frame 17 is correspondingly mounted on the power output of one rear wheel drive motor 13. On the housing at the output end, two rear wheel hinge assemblies 16 are respectively arranged on both sides of the rear wheel mounting bracket 17. Each rear wheel hinge assembly 16 includes two horizontally arranged rear wheel hinge rods. One end of each rear wheel hinge rod is hinged to the rear wheel mounting bracket 14, and the other end of each rear wheel hinge rod is hinged to the rear wheel mounting bracket 17. Two second-order shock absorber springs 15 are symmetrically arranged on both sides of the rear wheel mounting bracket 17 in the vertical direction. The top end of each second-order shock absorber spring 15 is fixedly connected to the bottom of the frame 2, and the bottom end of each second-order shock absorber spring 15 is fixedly connected to the rear wheel mounting bracket 17. The rear wheel 18 is arranged on the outside of the rear wheel mounting bracket 17, and the rear wheel 18 is mounted on the power output end of the rear wheel drive motor 13. Other components and connection methods are the same as in specific embodiment one.

[0060] In this embodiment, the chassis 74 is mainly used to support the conveying mechanism 72, the lettuce old leaf removal mechanism 75, and two cutting mechanisms 73. The rear drive unit 4 serves as the power component for chassis movement, driving the rear wheel 18 to rotate via the rear wheel drive motor 13. The front suspension 1 is the driven component of the chassis 4, moving synchronously when the rear drive unit 4 is working. Simultaneously, the front suspension 1 is equipped with a steering mechanism used to control the direction of chassis 4 movement. The output shaft of the steering servo 7 rotates, driving the steering system 8 to rotate, causing the horizontal linkage in the steering system 8 to move in a plane, which in turn causes the steering rod 77 to pull the connection with the A-type steering cup 6, making the connection between the steering rod 77 and the A-type steering cup 6 move linearly, driving the A-type steering cup 6 and the front wheel 12 to rotate, thus achieving the purpose of precisely controlling the tire rotation angle by outputting the servo. Both the front suspension 1 and the rear drive unit 4 are equipped with shock absorber springs to effectively achieve shock absorption and ensure the stability of chassis movement.

[0061] Specific implementation method three: Combining Figures 1 to 23This embodiment differs from Specific Embodiment Two in that the cutting mechanism 73 includes an auxiliary conveying unit 19, a straightening frame 20, a straightening unit 21, and a cutting unit 22. The straightening frame 20 is disposed on one side of the conveying mechanism 72, and the bottom of the straightening frame 20 is detachably connected to the side of the frame 2. The auxiliary conveying unit 19, the straightening unit 21, and the cutting unit 22 are all disposed in the straightening frame 20. The auxiliary conveying unit 19 is disposed away from the conveying mechanism 72, and the auxiliary conveying unit 19 is detachably connected to the straightening frame 20. The straightening unit 21 is disposed at the bottom of the feed inlet of the straightening frame 20, and the straightening unit 21 is detachably connected to the straightening frame 20. The cutting unit 22 is disposed behind the straightening unit 21, and the cutting unit 22 is detachably connected to the straightening frame 20. The bottom cutting end of the cutting unit 22 extends to the bottom of the straightening frame 20.

[0062] The auxiliary transmission unit 19 includes a top connecting plate 28, a power motor 29, a coupling 30, a drive pulley 31, a bottom connecting plate 32, a middle connecting plate, a driven pulley, and a transmission belt. The top connecting plate 28, the middle connecting plate, and the bottom connecting plate 32 are arranged in parallel from top to bottom. The top connecting plate 28 is detachably connected to the top of the straightening frame 20, the middle connecting plate is detachably connected to the middle of the straightening frame 20, and the bottom connecting plate 32 is detachably connected to the bottom of the straightening frame 20. The power motor 29 is inverted between the top connecting plate 28 and the middle connecting plate, and the fixing part of the power motor 29 is fixedly connected to the lower surface of the top connecting plate 28. The drive pulley 31 and the driven pulley are arranged between the middle connecting plate and the bottom connecting plate 32, with the drive pulley 31 located at the bottom of the power motor. Directly below the motor 29, the top of the axle of the drive pulley 31 passes through the middle connecting plate and is connected to the output shaft of the power motor 29 via a coupling. The upper part of the axle of the drive pulley 31 is rotatably connected to the middle connecting plate via a bearing, and the lower part of the axle of the drive pulley 31 is rotatably connected to the bottom connecting plate 32 via a bearing. The driven pulley is located on one side of the drive pulley 31, and the axis of the driven pulley is parallel to the axis of the drive pulley 31. The upper part of the axle of the driven pulley is rotatably connected to the middle connecting plate via a bearing, and the lower part of the axle of the driven pulley is rotatably connected to the bottom connecting plate 32 via a bearing. The transmission belt is fitted on the drive pulley 31 and the driven pulley, and the transmission belt is tensioned to the drive pulley 31 and the driven pulley. Multiple brushes are equidistantly arranged along the circumference on the outer circumferential surface of the transmission belt, and each brush is fixedly connected to the transmission belt.

[0063] The straightening unit 21 includes two straightening plates 33, which are arranged opposite to each other, and each straightening plate 33 is detachably connected to the bottom of the feed inlet side of the straightening frame 20.

[0064] The cutting unit 22 includes a cutting mounting bracket 25, a limiting trip bar 26, and two cutting components. The cutting mounting bracket 25 is located on the rear side of the two straightening plates 33 and is detachably connected to the straightening frame 20. The limiting trip bar 26 is horizontally placed on the rear side of the cutting mounting bracket 25 and is fixedly connected to the straightening frame 20. Both cutting components are located in the cutting mounting bracket 25 and are symmetrically arranged along the center line of the length direction of the cutting mounting bracket 25. The gap between the two cutting components corresponds to the material feeding gap between the two straightening plates 33. Each cutting component is detachably connected to one side inner wall of the cutting mounting bracket 25, and the bottom cutting end of each cutting component extends to the bottom of the straightening frame 20.

[0065] The cutting assembly includes a flange coupling 23, a cutting blade 24, and a cutting motor 27. The housing of the cutting motor 27 is detachably connected to one inner wall of the cutting mounting bracket 25. The power output end of the cutting motor 27 is vertically downward. The flange coupling 23 is fitted onto the power output end of the cutting motor 27, and the cutting blade 24 is fitted onto the flange coupling 23. Other components and connections are the same as in specific embodiment two.

[0066] In this embodiment, the main purpose of the cutting mechanism 73 is to cut off the root of the lettuce and adjust the position of the lettuce after cutting along with the forward movement of the harvester. The cutting mechanism 73 is provided with oppositely arranged straightening plates 33, and the edge of each straightening plate 33 is extended outward to guide the lettuce into the machine. The cutting blade adopts a double circular blade design, which can perform efficient and accurate cutting of the lettuce. The conveyor belt in the auxiliary conveying unit 19 at the top of the cutting mechanism 73 rotates in a cycle, and the brush on the outside of the conveyor belt is used to push the upper part of the lettuce and drive the lettuce to tilt backward. With the cooperation of the limit trip bar 26, the upright lettuce is turned into a side-lying lettuce, so as to facilitate the subsequent conveying of the lettuce by the conveying mechanism 2.

[0067] To ensure the continuity of lettuce transportation, a lettuce guide groove 60 is provided behind the limiting trip bar 26, such as... Figure 24 As shown, the lettuce guide trough 60 is fixedly connected to the straightening frame 20. The lettuce guide trough 60 has a guide slope inside. The lettuce will move along the guide slope to the bottom of the lettuce guide trough 60 and wait for the conveyor table 66 in the conveying mechanism 72 to move to this position and drive the lettuce to rise. There are two lettuce limiting baffle passage grooves 70 processed on the side wall of the lettuce guide trough 60 near the conveying mechanism 72. Each lettuce limiting baffle passage groove 70 is correspondingly set with a lettuce limiting baffle 71. When the conveyor table 66 moves to the lettuce guide trough 60, the lettuce limiting baffle 71 will pass through the lettuce limiting baffle passage groove 70 from the bottom of the lettuce guide trough 60 and lift the lettuce to achieve the action of driving the lettuce to rise.

[0068] Specific implementation method four: Combination Figures 1 to 23 This embodiment differs from specific embodiment three in that the conveying mechanism 72 includes a drive motor assembly 62, a support frame 69, two conveying tables 66, two conveying units, and two guide rail units. The bottom of the support frame 69 is inserted into the frame 2, and the bottom of the support frame 69 is detachably connected to the central support plate 3. The side of the support frame 69 is detachably connected to the mounting bracket. The drive motor assembly 62 is located at the inner top of the support frame 69, and the mounting part of the drive motor assembly 62 is detachably connected to the support frame 69. The drive motor assembly 62 has two power output ends, and each power output end faces a cutting machine. The structure 73 is configured such that two conveying units are symmetrically arranged in the support frame 69 along the center line of the width direction of the support frame 69, and the top of each conveying unit is mounted on a power output end of the drive motor assembly 62, and the bottom of each conveying unit is fitted onto the support shaft assembly at the bottom of the support frame 69. Two guide rail units are symmetrically arranged on the outside of the support frame 69 along the center line of the width direction of the support frame 69, and both guide rail units are fixedly connected to the support frame 69. Each conveying table 66 is correspondingly mounted on a guide rail unit, and each conveying table 66 is slidably connected to the guide rail unit to which it belongs. Each conveying table 66 is fixedly connected to the corresponding conveying unit.

[0069] The drive motor assembly 62 includes a motor mounting plate 621, a motor connector 624, two motor side plates 622, two sprocket motors 623, and two sprocket mounting sleeves 625. The motor mounting plate 621 is disposed on the inner top of the support frame 69 and is detachably connected to the support frame 69. The two motor side plates 622 are symmetrically arranged on the motor mounting plate 621 along the center line of the width direction of the support frame 69, and each motor side plate 622 is detachably connected to the motor mounting plate 621. Each sprocket motor 623 is correspondingly disposed on one motor. The inner side of the side plate 622, and the housing of the sprocket motor 623 is detachably connected to the corresponding motor side plate 622. The power output shaft of each sprocket motor 623 passes through the motor side plate 622 and extends to the outer side of the motor side plate 622. A sprocket mounting sleeve 625 is provided on the outer side of each motor side plate 622, and each sprocket mounting sleeve 625 is fitted onto the power output shaft of one sprocket motor 623. A motor connector 624 is provided between two sprocket motors 623, and the motor connector 624 is fixedly connected to the housings of the two sprocket motors 623.

[0070] The transmission unit includes a drive sprocket 61, a driven sprocket, and a chain 63. The drive sprocket 61 is mounted on a sprocket mounting sleeve 625. The driven sprocket is located directly below the drive sprocket 61 and is mounted on a support shaft assembly at the lower part of the support frame 69. The chain 63 is mounted on the drive sprocket 61 and the driven sprocket. A shaft hole connecting block is provided on the outer circumference of the chain 63, and the shaft hole connecting block is fixedly connected to the chain 63.

[0071] The support shaft assembly is located directly below the drive motor assembly 62. The support shaft assembly includes a central connecting block 80, two rotating shafts 81, two shaft mounting seats 82, and two rotating bearings 83. The two shaft mounting seats 82 are located on both sides of the central connecting block 80, and the tops of the central connecting block 80 and the two shaft mounting seats 82 are detachably connected to the support frame 69. Each rotating shaft 81 is inserted into a corresponding shaft mounting seat 82, and each rotating shaft 81 is rotatably connected to the shaft mounting seat 82 through a rotating bearing 83. The end of the rotating shaft 81 away from the central connecting block 80 extends to the outside of the shaft mounting seat 82 and is correspondingly inserted into a driven sprocket.

[0072] The guide rail unit includes two guide rail sliders 67 and two guide rails 68. The two guide rails 68 are symmetrically arranged on the outer wall of the long side of the support frame 69 along the center line of the length direction of the support frame 69. Each guide rail 68 is detachably connected to the support frame 69. Each guide rail slider 67 is correspondingly arranged on one guide rail 68, and each guide rail slider 67 is slidably connected to the guide rail 68 it belongs to.

[0073] The conveyor 66 includes a movable plate 64, a movable frame 65, a connecting shaft, and two lettuce limiting baffles 71. The movable frame 65 is located on the front side of the two guide rail sliders 67 and is fixedly connected to the two guide rail sliders 67. The movable plate 64 is embedded in the movable frame 65 and is slidably connected to the movable frame 65. The connecting shaft is located on the back side of the movable plate 64, and one end of the connecting shaft is rotatably connected to the movable plate 64 through a bearing. The other end of the connecting shaft is inserted into the shaft hole connecting block located on the outer circular surface of the chain 63. The two lettuce limiting baffles 71 are located on the front side of the movable plate 64, and each lettuce limiting baffle 71 is detachably connected to the movable plate 64.

[0074] The lettuce limiting baffle 71 located near the front end of the harvester is positioned lower than the lettuce limiting baffle 71 located near the rear end of the harvester. Other components and connections are the same as in Specific Embodiment Three.

[0075] In this embodiment, the conveying mechanism 72 is used to transport the harvested lettuce to the lettuce old leaf removal mechanism 75. Since this application is a double-row side-mounted lettuce harvester, the conveying mechanism 72 is equipped with two conveying units, each corresponding to a cutting mechanism, and each conveying unit has an independent power system, which can realize the working mode of differential conveying between the two conveying units. This arrangement can effectively avoid lettuce accumulation and increase the workload of the lettuce old leaf removal mechanism 75. The main component carrying the lettuce is the conveying table 66, which relies on the chain 63 as the main power source. As the chain 63 moves circumferentially, it drives the movable frame 65 to slide longitudinally in the guide rail unit. To avoid motion interference, the conveying table 66 is provided with two parts: the movable frame 65 and the movable plate 64. The movable plate 64 can slide freely on the movable frame 65. When the movable frame 65 and the chain 63 interfere with each other (the movable frame 65 moves above the driving sprocket 61 or below the driven sprocket), the movable frame 65 still maintains the longitudinal movement trend, while the movable plate 64 will... The direction of motion is decomposed and compensated (sliding within the movable frame 65) to ensure the smooth flow of the conveyor 66. A lettuce-supporting baffle 71 is provided on the movable plate 64 as a support component for the lettuce. The lettuce-supporting baffle 71 has a hinge structure, with the lower hinge fixedly connected to the movable plate 64, and the upper hinge hinged to the lower hinge and equipped with a return spring. When the lettuce falls onto the lettuce-supporting baffle 71, the baffle 71 will open under the action of the lettuce's gravity, forming a V-shaped support between the upper hinge and the movable plate 64. The lettuce is supported by two lettuce limiting baffles 71, which are not horizontally arranged but are arranged with the front bottom and the back top. This ensures that the lettuce is in an inclined position. In this position, when the lettuce moves upward, it is constrained by the leaf peeling frame 36 to prevent it from falling off the lettuce limiting baffles 71. When it moves to the top of the lettuce old leaf removal mechanism 75, the conveyor 66 is located above the leaf peeling frame 36. The constraint of the leaf peeling frame 36 on the lettuce disappears, and the lettuce slides into the lettuce old leaf removal mechanism 75 for subsequent work.

[0076] Specific Implementation Method Five: Combining Figures 1 to 23This embodiment differs from specific embodiment four in that the lettuce leaf removal mechanism 75 includes an upper guide unit 34, a gravity buffer unit 35, a leaf-peeling auxiliary frame 36, a leaf-peeling and clamping unit 37, and a storage tank 38. The leaf-peeling auxiliary frame 36 is located on the front side of the conveying mechanism 72, and its bottom is detachably connected to the top of the frame 2. The upper guide unit 34 is installed on the top of the leaf-peeling auxiliary frame 36, and the gravity buffer unit 35 is vertically arranged on the leaf-peeling auxiliary frame 36. Inside, the gravity buffer unit 35 is located away from the conveying mechanism 72. The mounting side of the gravity buffer unit 35 is detachably connected to the inner wall of the leaf-stripping auxiliary frame 36. The leaf-stripping and clamping unit 37 is located below the upper guide unit 34 and is located between the gravity buffer unit 35 and the conveying mechanism 72. The mounting part of the leaf-stripping and clamping unit 37 is detachably connected to the inner wall of the leaf-stripping auxiliary frame 36. The storage slot 38 is located below the leaf-stripping and clamping unit 37 and is embedded in the frame 2.

[0077] The upper guide unit 34 includes a flip-up groove plate 55, a pressure sensor 56, a first servo motor 57, a limiting constraint groove plate 58, a fixing plate 59, and two ramp plates 54. The fixing plate 59 is located on top of the leaf-stripping auxiliary frame 36 and is detachably connected to the leaf-stripping auxiliary frame 36. The side of the fixing plate 59 facing the conveying mechanism 72 has a swing notch. The limiting constraint groove plate 58 is vertically mounted on the fixing plate 59 and is located directly in front of the closed end of the swing notch. The bottom of the limiting constraint groove plate 58 is fixedly connected to the fixing plate 59. The first servo motor 57 is located on one side of the swing notch, and the housing of the first servo motor 57... The first servo motor 57 is fixedly connected to the top of the fixed plate 59. The power output end of the first servo motor 57 is set towards the swing notch. The flip groove plate 55 is set directly above the swing notch, and one end of the flip groove plate 55 is connected to the power output end of the first servo motor 57. The pressure sensor 56 is set on the inner wall of the flip groove plate 55, and the signal output end of the pressure sensor 56 is connected to the control end of the first servo motor 57. Two ramp plates 54 are symmetrically arranged above the fixed plate 59 along the center line of the width direction of the flip groove plate 55, and both ramp plates 54 are inclined towards the flip groove plate 55. Each ramp plate 54 is fixedly connected to the extended longitudinal prism at the top of the leaf stripping bracket 36.

[0078] The gravity buffer unit 35 includes an upper limiting sleeve 44, a sliding guide plate 45, a second servo motor 46, a first crank 47, a second crank 48, a bottom hopper 50, and two buffer slide rails 49. The sliding guide plate 45 is vertically arranged in the leaf-stripping auxiliary frame 36 and is fixedly connected to the inner wall of the leaf-stripping auxiliary frame 36 on the side away from the conveying mechanism 72. A guide groove is machined in the middle of the sliding guide plate 45 along its length. The upper limiting sleeve 44 and the bottom hopper 50 are both located on the front side of the sliding guide plate 45, with the upper limiting sleeve 44 located directly above the bottom hopper 50. The upper limiting sleeve 44 and the bottom hopper 50 are connected by a cross slider. The two buffer slide rails 49 are symmetrically arranged on the sliding guide plate 45 along the center line of the guide groove width direction. On the front side, each buffer slide rail 49 is fixedly connected to the sliding guide plate 45. The cross slider is set on the two buffer slide rails 49 and is slidably connected to the two buffer slide rails 49. The back side of the cross slider is provided with a sliding drive shaft. One end of the sliding drive shaft is fixedly connected to the back side of the cross slider. The other end of the sliding drive shaft passes through the guide groove and extends to the back side of the sliding guide plate 45. The second servo motor 46 is set on the back side of the sliding guide plate 45. The housing of the second servo motor 46 is detachably connected to the leaf stripping bracket 36. The power output shaft of the second servo motor 46 faces the sliding guide plate 45. One end of the first crank 47 is fitted on the power output shaft of the second servo motor 46. One end of the second crank 48 is hinged to the other end of the first crank 47. The other end of the second crank 48 is fitted on the other end of the sliding drive shaft.

[0079] The leaf-stripping and clamping unit 37 includes two clamping assemblies, which are arranged opposite each other on both sides of the gravity buffer unit 35. Each clamping assembly is detachably connected to the inner wall of the leaf-stripping auxiliary frame 36. Each clamping assembly includes a drive motor 39, a lead screw coupling 40, a lead screw 41, a leaf-stripping gripper 42, a thrust motor 43, a clamping mounting plate, and a lead screw sliding block. The clamping mounting plate is detachably connected to the inner wall of the leaf-stripping auxiliary frame 36, and the lead screw 41 is mounted on the inner side of the clamping mounting plate via a lead screw bracket. On the wall, one end of the lead screw 41 is connected to the power output shaft of the drive motor 39 via the lead screw coupling 40. The housing of the drive motor 39 is detachably connected to the leaf-stripping auxiliary frame 36. The lead screw sliding block is sleeved on the lead screw 41 and is slidably connected to the lead screw 41. The thrust motor 43 is mounted on the lead screw sliding block, and the housing of the thrust motor 43 is detachably connected to the lead screw sliding block. The leaf-stripping gripper 42 is mounted on the piston rod end of the thrust motor 43 and is detachably connected to the piston rod end. Other components and connection methods are the same as in specific embodiment four.

[0080] In this embodiment, the lettuce old leaf removal mechanism 75 is an important component of this application. The lettuce old leaf removal mechanism 75 provided by this application can provide a new way of removing leaves from lettuce, retaining the new leaves at the top of the lettuce to the greatest extent, removing the old leaves on the lettuce, achieving the purpose of "removing the old and keeping the new", and ensuring the maximum economic value of lettuce.

[0081] In this embodiment, the upper guide unit 34 guides the lettuce into the lettuce leaf removal mechanism 75 and performs secondary posture adjustment on the lettuce, changing it from a horizontal position to an upright position to facilitate subsequent leaf removal. When the lettuce enters the flipping groove plate 55, the pressure sensor 56 receives a signal and drives the first servo motor 57 to change the horizontally positioned flipping groove plate 55 to a vertical position, allowing the lettuce to be slid into the bottom hopper 50 through the upper limiting sleeve 44. The bottom of the bottom hopper 50 supports the lettuce, and the cross slider provides lateral restraint. It is worth noting that the distance between the upper limiting sleeve 44 and the bottom hopper 50 must be greater than the length of the lettuce. After the bucket 50 is in place, the leaf-peeling and clamping unit 37 operates. Two drive motors 39 operate synchronously, aligning the leaf-peeling grippers 42 with the lettuce. Once the grippers 42 are in position, two thrust motors 43 operate synchronously, driving the grippers 42 to clamp the lettuce. The top of the grippers 42 is equipped with scraper blades. When the grippers 42 clamp the lettuce, the two scraper blades form a ring blade, effectively scraping away the older leaves around the lettuce, ensuring complete leaf removal. The leaf-peeling process uses a "lettuce moves, blade remains stationary" method. A second servo motor 46 drives a crank-slider structure consisting of a first crank 47, a second crank 48, and a cross slider, allowing the lettuce to reciprocate longitudinally along the length of the sliding guide plate 45. The lettuce and the blade create relative displacement, thus achieving the leaf-scraping action. It's worth noting that the leaf-peeling gripper 42 is positioned below the new leaves. This allows the blade to remove only the older leaves while preserving the new ones. During the leaf-peeling action, a gap exists between the inner wall of the leaf-peeling gripper 42 and the lettuce to facilitate relative displacement. After peeling, the lettuce is gripped by the leaf-peeling gripper 42 and pulled out of the bottom hopper 50 through a notch on the front side. Finally, the lettuce is moved to the top of the storage trough 38, the leaf-peeling gripper 42 releases, and the lettuce falls for collection. In practical applications, the storage trough 38 includes a main trough body 51, an inclined sponge 52, and a photoelectric gate 53. The inclined sponge 52 is located within the main trough body 51 and... The main trough 51 is fixedly connected to the bottom. A lettuce discharge outlet is machined on one side of the main trough 51, and the outlet corresponds to the bottom of the inclined surface of the inclined sponge 52. A photoelectric gate 53 is installed in the discharge outlet. When the lettuce in the storage trough 38 is full, the harvester stops the harvester and places a pre-prepared collection box at the discharge outlet. Simultaneously, the photoelectric gate 53 is opened, and the lettuce is discharged into the collection box along the slope of the inclined sponge 52. Another collection method is automatic harvester shutdown. A gravity sensor and indicator light or buzzer can be installed at the bottom of the main trough 51. When a certain weight is harvested, the gravity sensor receives a signal and sends a stop command to the harvester's drive module, causing it to stop working.At the same time, indicator lights or buzzers will alert harvesters that the lettuce can be moved to the collection box.

[0082] Working principle

[0083] When the double-row side-mounted lettuce harvester provided in this application is working, the various components are first assembled together according to the connection methods provided in specific embodiments one to five:

[0084] Driving principle: The double-row side-mounted lettuce harvester provided in this application uses electricity as the main power source. The electric drive method is as follows: the motor rotation speed is controlled by the encoder, the motor starts and stops smoothly, the trolley travel speed and brake are controlled, and the rear wheel drive motor 13 in the rear drive unit 4 directly outputs power to the rear wheel 18 to drive the movement of the whole vehicle.

[0085] Steering principle: The double-row side-mounted lettuce harvester provided in this application adopts a front wheel Ackerman steering and a rear wheel differential steering to achieve smooth turning of the harvester;

[0086] Root-cutting principle: The double-row side-mounted lettuce harvester provided in this application uses a straightening unit 21 in conjunction with a cutting unit 22 to smoothly cut the lettuce. When the lettuce is crooked in the field, it adheres tightly to the inner wall of the straightening component 33. As the harvester moves forward, the lettuce changes its posture from crooked to upright along the inner wall of the straightening component. After the lettuce is straightened, the upper part of its stem is clamped by the straightening component 33, and the root is smoothly cut through the double-disc cutting system assembled by circular blades 24. Meanwhile, the upper part of the lettuce stem is held in place by the brush bristles of the conveyor belt, providing the lettuce with the power to move backward. Then, about two-fifths of the lettuce root is held in place by the limiting bar 26 that moves forward with the harvester. The upper part of the lettuce moves backward relative to its root, thus laying the lettuce down. After the lettuce is laid down, the stem detaches from the synchronous belt brush and slides naturally to the movable platform 66 of the vertical conveyor mechanism, where it is supported and limited by two lettuce limiting baffles 71.

[0087] Conveying Principle: The sprocket motor 623 drives the drive sprocket 61 to rotate, thereby driving the chain 63 to move circumferentially. The conveyor table 66 is connected to the chain 63 via a shaft. As the chain 63 moves periodically, there is a bearing between the shaft and the conveyor plate 64, ensuring that the conveyor plate 64 can rotate relative to the shaft. The conveyor plate 64 is framed by the conveyor frame 65, ensuring that its bottom surface is always parallel to the ground. This ensures that the lettuce moves with the conveyor table in a fixed posture. The conveyor plate 64 is driven by the conveyor frame 65. During movement, it slides up and down with the help of the slide rail 68 and the slider 67 fixed on the profile. The conveyor plate 64 can slide left and right in the movable frame 65. Two lettuce limiting baffles 71 are fixed on the conveyor plate 64 to achieve the purpose of conveying the lettuce. Regarding the support component, to address the potential obstruction of the lettuce during its downward movement, the lettuce-limiting baffle 71 employs a hinge mechanism. When the support component is blocked by the lettuce, the hinge folds, and the front end of the support component stands upright, ensuring the support platform can be smoothly carried by the chain to the lower end of the base plate without being jammed by the lettuce. Upon descending to a certain height, the lettuce-limiting baffle 71 reaches below the lettuce, with its upright front end lower than the lettuce, thus avoiding obstruction. The hinge unfolds, and the front end of the lettuce-limiting baffle 71 returns to a horizontal position. It is then carried upwards by the chain 63, supporting the lettuce upon encountering it and transporting it upwards. During upward transport of the lettuce, the lower side of the support component is blocked by the wall of the leaf-peeling auxiliary frame 36, preventing the lettuce from slipping. When the conveyor platform 66 moves above the inclined plate 54 of the leaf-peeling auxiliary frame 36, the lettuce, no longer obstructed by the wall, naturally slides onto the upper guide unit 34, where the leaf-peeling operation is then performed.

[0088] The upper guide unit 34 guides the lettuce into the lettuce leaf removal mechanism 75 and performs secondary posture adjustment on the lettuce, changing it from a horizontal position to an upright position to facilitate subsequent leaf removal. When the lettuce enters the flipping groove plate 55, the pressure sensor 56 receives a signal and drives the first servo motor 57 to change the horizontally positioned flipping groove plate 55 to a vertical position, allowing the lettuce to be pushed into the bottom hopper 50 through the upper limiting sleeve 44. The bottom of the bottom tray 50 supports the lettuce, and a cross-shaped slider provides lateral restraint. Once the lettuce enters the bottom tray 50, the leaf-peeling and clamping unit 37 activates. Two drive motors 39 operate synchronously, aligning the leaf-peeling claws 42 with the lettuce. After the leaf-peeling claws 42 are in position, two push motors 43 operate synchronously, driving the two leaf-peeling claws 42 to clamp the lettuce. The top of the leaf-peeling claws 42 is equipped with scraper blades. After the leaf-peeling claws 42 clamp the lettuce, two scraper blades... The blades are arranged in a ring shape, which can completely scrape off the old leaves around the lettuce, ensuring the integrity of the peeling. The peeling process adopts the "lettuce moves but the blade does not" method. The second servo motor 46 drives the crank-slider structure composed of the first crank 47, the second crank 48 and the cross slider, so that the lettuce can move longitudinally and reciprocally along the length of the sliding guide plate 45, so that the relative displacement between the lettuce and the blade can be formed, thereby realizing the peeling action. It is worth noting that the gripping position of the peeling claw 42 is located below the new leaves. In this way, as the lettuce moves, the blade can only remove the old leaves and retain the new leaves. During the peeling action, there is a gap between the inner wall of the peeling claw 42 and the lettuce to facilitate the relative displacement. After peeling, the lettuce is clamped by the peeling claw 42 and pulled out of the bottom tractor 50 through the notch on the front side of the bottom tractor 50. Finally, the lettuce is moved to the top of the storage tank 38, the peeling claw 42 is released, and the lettuce falls into the storage tank 38.

[0089] This application uses DC power for operation. The power system can be installed on the rear side of the transmission mechanism 72 and fixedly connected to the frame 2. To ensure the stability of power supply and power control, the power system of this application includes a polymer lithium battery, a voltage regulator module, a multi-channel switch adjustable output DC-DC step-down power supply module, an overload protection relay, and a motor speed controller with overload protection. All motors involved in this application are closed-loop 57-type stepper motors, the thrust motors are DC electric actuators, the servos are high-torque digital servos, and some motors may be equipped with brushless DC worm gear reducers or dual-axis planetary gear DC reducers depending on the working requirements.

Claims

1. A double row side shoot lettuce harvester characterised in that: The harvesting machine comprises a conveying mechanism (72), a chassis (74), a lettuce old leaf stripping mechanism (75) and two cutting mechanisms (73), the conveying mechanism (72) is arranged at the center of the chassis (74) and detachably connected with the chassis (74), the top of the conveying mechanism (72) is provided with two discharge ends, the bottom of the conveying mechanism (72) is provided with two feeding ends, each feeding end in the conveying mechanism (72) is correspondingly arranged with a discharge end, the lettuce old leaf stripping mechanism (75) is arranged on the front side of the conveying mechanism (72) and detachably connected with the chassis (74), the two discharge ends on the top of the conveying mechanism (72) are correspondingly arranged with the top feeding end of the lettuce old leaf stripping mechanism (75), and the two cutting mechanisms (73) are symmetrically arranged on the two sides of the conveying mechanism (72) and detachably connected with the chassis (74), the discharge end of each cutting mechanism (73) is correspondingly arranged with one feeding end on the bottom of the conveying mechanism (72); The chassis (74) comprises a frame (2), a middle support plate (3), a rear driving unit (4) and two front suspensions (1), the front end of the frame (2) is provided with an extension auxiliary frame, the extension auxiliary frame is located at the center of the front end of the frame (2) and fixedly connected with the frame (2), the two front suspensions (1) are oppositely arranged on the two sides of the extension auxiliary frame and hingedly arranged with the extension auxiliary frame, the rear driving unit (4) is arranged on the lower surface of the tail end of the frame (2) and detachably connected with the frame (2), the middle support plate (3) is arranged in the frame (2) and fixedly connected with the frame (2), the conveying mechanism (72) is arranged on the middle support plate (3) and detachably connected with the top of the middle support plate (3), the top of the frame (2) is provided with a mounting auxiliary frame, the mounting auxiliary frame is correspondingly arranged with the conveying mechanism (72) and fixedly connected with the frame (2), and the side of the conveying mechanism (72) is detachably connected with the mounting auxiliary frame of the frame (2). The lettuce old leaf stripping mechanism (75) comprises an upper guide unit (34), a gravity buffering unit (35), a leaf stripping auxiliary frame (36), a leaf stripping and clamping unit (37) and a storage tank (38), the leaf stripping auxiliary frame (36) is arranged at the front side of the conveying mechanism (72), and the bottom of the leaf stripping auxiliary frame (36) is detachably connected with the top of the rack (2); the upper guide unit (34) is installed on the top of the leaf stripping auxiliary frame (36); the gravity buffering unit (35) is arranged in the leaf stripping auxiliary frame (36) in the vertical direction, and is arranged away from the conveying mechanism (72); the installation side of the gravity buffering unit (35) is detachably connected with the inner side wall of the leaf stripping auxiliary frame (36); the leaf stripping and clamping unit (37) is arranged below the upper guide unit (34) and between the gravity buffering unit (35) and the conveying mechanism (72); the installation part of the leaf stripping and clamping unit (37) is detachably connected with the inner side wall of the leaf stripping auxiliary frame (36); and the storage tank (38) is arranged below the leaf stripping and clamping unit (37) and embedded on the rack (2). The upper guide unit (34) comprises a turnover groove plate (55), a pressure sensor (56), a No. 1 steering engine (57), a limiting constraint groove plate (58), a fixed plate (59) and two slope plates (54); the fixed plate (59) is arranged on the top of the leaf stripping auxiliary frame (36) and detachably connected with the leaf stripping auxiliary frame (36); the side of the fixed plate (59) facing the conveying mechanism (72) is processed with a swing gap; the limiting constraint groove plate (58) is arranged on the fixed plate (59) in the vertical direction and located directly in front of the closed end of the swing gap; the bottom of the limiting constraint groove plate (58) is fixedly connected with the fixed plate (59); the No. 1 steering engine (57) is arranged on one side of the swing gap, and the housing of the No. 1 steering engine (57) is fixedly connected with the top of the fixed plate (59); the power output end of the No. 1 steering engine (57) is arranged towards the swing gap; the turnover groove plate (55) is arranged directly above the swing gap, and one end of the turnover groove plate (55) is connected with the power output end of the No. 1 steering engine (57); the pressure sensor (56) is arranged on the inner wall of the turnover groove plate (55), and the signal output end of the pressure sensor (56) is connected with the control end of the No. 1 steering engine (57); and the two slope plates (54) are symmetrically arranged above the fixed plate (59) along the center line in the width direction of the turnover groove plate (55), and each slope plate (54) is arranged obliquely towards the turnover groove plate (55) and fixedly connected with the extended longitudinal prism on the top of the leaf stripping auxiliary frame (36).

2. A double row side hung lettuce harvester according to claim 1, characterised in that: The extension auxiliary frame is a three-layer structure, a bottom layer mounting plate (78) is arranged on the bottom layer of the extension auxiliary frame, a middle layer mounting plate (79) is arranged on the middle layer of the extension auxiliary frame, and the bottom layer mounting plate (78) and the middle layer mounting plate (79) are fixedly connected with the extension auxiliary frame, the steering engine (7) is arranged on the top of the middle layer mounting plate (79), the shell of the steering engine (7) is fixedly connected with the middle layer mounting plate (79), the steering system (8) is arranged on the top of the bottom layer mounting plate (78), the power output end of the steering engine (7) penetrates through the middle layer mounting plate (79) and is connected with the torque input end of the steering system (8), and the torque output end of the steering system (8) is connected with the two front suspensions (1); The front suspension (1) comprises a C-shaped steering cup (5), an A-shaped steering cup (6), a shock absorber (9), an upper swing arm (10), a lower swing arm (11), a front wheel (12) and a steering rod (77), the upper swing arm (10) is arranged between the middle layer mounting plate (79) and the C-shaped steering cup (5), one end of the upper swing arm (10) is hingedly connected with one end of the middle layer mounting plate (79), the other end of the upper swing arm (10) is hingedly connected with the upper portion of the C-shaped steering cup (5), the lower swing arm (11) is arranged below the upper swing arm (10), one end of the lower swing arm (11) is hingedly connected with one end of the bottom layer mounting plate (78), the other end of the lower swing arm (11) is hingedly connected with the lower portion of the C-shaped steering cup (5), the shock absorber (9) is arranged on the lower swing arm (11), one end of the shock absorber (9) is hingedly connected with the lower swing arm (11), the other end of the shock absorber (9) is hingedly connected with the top layer frame body of the extension auxiliary frame, the A-shaped steering cup (6) is arranged on the side, away from the extension auxiliary frame, of the C-shaped steering cup (5), the steering rod (77) is arranged between the A-shaped steering cup (6) and the steering system (8), one end of the steering rod (77) is hingedly connected with the torque output end of the steering system (8), the other end of the steering rod (77) is hingedly connected with the A-shaped steering cup (6) of the steering system (8), and the front wheel (12) is arranged on the side, away from the C-shaped steering cup (5), of the A-shaped steering cup (6) and is sleeved on the rotating shaft in the A-shaped steering cup (6). The rear drive unit (4) comprises two rear drive assemblies which are symmetrically arranged along the center line of the width direction of the rack (2) on the lower surface of the tail end of the rack (2), and each rear drive assembly is detachably connected with the rack (2). Each rear drive assembly comprises a rear wheel drive motor (13), a rear wheel mounting auxiliary frame (14), a rear wheel mounting frame (17), a rear wheel (18), two second shock-absorbing springs (15) and two rear wheel hinged groups (16). The rear wheel mounting auxiliary frame (14) is detachably connected with the rack (2), the rear wheel drive motor (13) is arranged in the rear wheel mounting auxiliary frame (14), and the power output end of the rear wheel drive motor (13) is arranged towards the outside of the rack (2). One rear wheel mounting frame (17) is correspondingly arranged on the housing of the power output end of one rear wheel drive motor (13). Two rear wheel hinged groups (16) are respectively arranged on the two sides of the rear wheel mounting frame (17). Each rear wheel hinged group (16) comprises two horizontally arranged rear wheel hinges. One end of each rear wheel hinge is hingedly arranged with the rear wheel mounting auxiliary frame (14), and the other end of each rear wheel hinge is hingedly arranged with the rear wheel mounting frame (17). Two second shock-absorbing springs (15) are symmetrically arranged in the vertical direction on the two sides of the rear wheel mounting frame (17). The top end of each second shock-absorbing spring (15) is fixedly connected with the bottom of the rack (2), and the bottom end of each second shock-absorbing spring (15) is fixedly connected with the rear wheel mounting frame (17). The rear wheel (18) is arranged on the outside of the rear wheel mounting frame (17), and the rear wheel (18) is sleeved on the power output end of the rear wheel drive motor (13).

3. A double row side hung lettuce harvester according to claim 2, characterised in that: The cutting mechanism (73) comprises an auxiliary conveying unit (19), a centralizing rack (20), a centralizing unit (21) and a cutting unit (22). The centralizing rack (20) is arranged on one side of the conveying mechanism (72), and the bottom of the centralizing rack (20) is detachably connected with the side of the rack (2). The auxiliary conveying unit (19), the centralizing unit (21) and the cutting unit (22) are all arranged in the centralizing rack (20). The auxiliary conveying unit (19) is arranged away from the conveying mechanism (72), and the auxiliary conveying unit (19) is detachably connected with the centralizing rack (20). The centralizing unit (21) is arranged at the bottom of the feeding port of the centralizing rack (20), and the centralizing unit (21) is detachably connected with the centralizing rack (20). The cutting unit (22) is arranged behind the centralizing unit (21), and the cutting unit (22) is detachably connected with the centralizing rack (20). The bottom cutting end of the cutting unit (22) extends below the centralizing rack (20).

4. A double row side hung lettuce harvester according to claim 3, characterised in that: The auxiliary conveying unit (19) comprises a top connecting plate (28), a power motor (29), a shaft coupling (30), a driving pulley (31), a bottom connecting plate (32), a middle connecting plate, a driven pulley and a transmission belt, the top connecting plate (28), the middle connecting plate and the bottom connecting plate (32) are sequentially arranged in parallel from top to bottom, and the top connecting plate (28) is detachably connected to the top of the centralizer frame (20), the middle connecting plate is detachably connected to the middle of the centralizer frame (20), the bottom connecting plate (32) is detachably connected to the bottom of the centralizer frame (20), the power motor (29) is inverted between the top connecting plate (28) and the middle connecting plate, the fixing part of the power motor (29) is fixedly connected to the lower surface of the top connecting plate (28), the driving pulley (31) and the driven pulley are arranged between the middle connecting plate and the bottom connecting plate (32), and the driving pulley (31) is located directly below the power motor (29), the shaft of the driving pulley (31) penetrates through the middle connecting plate and is connected to the output shaft of the power motor (29) through the shaft coupling, the upper part of the shaft of the driving pulley (31) is rotatably connected to the middle connecting plate through a bearing, the lower part of the shaft of the driving pulley (31) is rotatably connected to the bottom connecting plate (32) through a bearing, the driven pulley is arranged on one side of the driving pulley (31), and the axis of the driven pulley is arranged in parallel with the axis of the driving pulley (31), the upper part of the shaft of the driven pulley is rotatably connected to the middle connecting plate through a bearing, the lower part of the shaft of the driven pulley is rotatably connected to the bottom connecting plate (32) through a bearing, and the transmission belt is sleeved on the driving pulley (31) and the driven pulley, and the transmission belt is arranged in tension with the driving pulley (31) and the driven pulley, a plurality of brushes are equidistantly arranged on the outer circumferential surface of the transmission belt in the circumferential direction, and each brush is fixedly connected to the transmission belt; The centralizing unit (21) comprises two centralizing plates (33), the two centralizing plates (33) are oppositely arranged, and each centralizing plate (33) is detachably connected to the bottom of the side of the feeding port of the centralizer frame (20); The cutting unit (22) comprises a cutting auxiliary frame (25), a limiting stumbling rod (26) and two cutting assemblies, the cutting auxiliary frame (25) is arranged at the rear side of the two centralizing plates (33), and the cutting auxiliary frame (25) is detachably connected to the centralizer frame (20), the limiting stumbling rod (26) is arranged at the rear side of the cutting auxiliary frame (25) in a transverse manner, and the limiting stumbling rod (26) is fixedly connected to the centralizer frame (20), the two cutting assemblies are arranged in the cutting auxiliary frame (25), and the two cutting assemblies are symmetrically arranged along the center line in the length direction of the cutting auxiliary frame (25), the spacing gap between the two cutting assemblies is correspondingly arranged with the material running gap between the two centralizing plates (33), and each cutting assembly is detachably connected to the inner wall on one side of the cutting auxiliary frame (25), and the bottom cutting end of each cutting assembly extends below the centralizer frame (20). The cutting assembly includes a flange coupling (23), a cutting blade (24) and a cutting motor (27), the shell of the cutting motor (27) is detachably connected with the inner wall of one side of the cutting mounting auxiliary frame (25), the power output end of the cutting motor (27) is vertically downward, the flange coupling (23) is sleeved on the power output end of the cutting motor (27), and the cutting blade (24) is sleeved on the flange coupling (23).

5. A double row side dressed lettuce harvester according to claim 4, characterised in that: The conveying mechanism (72) comprises a driving motor assembly (62), a support frame (69), two conveying tables (66), two conveying units and two guide rail units, the bottom of the support frame (69) is inserted into the rack (2), the bottom of the support frame (69) is detachably connected with the middle support plate (3), the side of the support frame (69) is detachably connected with the mounting auxiliary frame, the driving motor assembly (62) is arranged on the inner top of the support frame (69), the mounting portion of the driving motor assembly (62) is detachably connected with the support frame (69), two power output ends are arranged on the driving motor assembly (62), and each power output end is arranged towards one cutting mechanism (73), the two conveying units are symmetrically arranged in the support frame (69) along the center line in the width direction of the support frame (69), the top of each conveying unit is mounted on one power output end in the driving motor assembly (62), the bottom of each conveying unit is sleeved on the support shaft assembly on the lower part of the support frame (69), the two guide rail units are symmetrically arranged on the outer side of the support frame (69) along the center line in the width direction of the support frame (69), and the two guide rail units are fixedly connected with the support frame (69), each conveying table (66) is mounted on one guide rail unit, each conveying table (66) is slidably connected with the guide rail unit, and each conveying table (66) is fixedly connected with the corresponding conveying unit.

6. A double row side dressed lettuce harvester according to claim 5, characterised in that: The driving motor assembly (62) comprises a motor mounting plate (621), a motor connecting piece (624), two motor side vertical plates (622), two sprocket motors (623) and two sprocket mounting sleeves (625), the motor mounting plate (621) is arranged on the inner top of the support frame (69), and the motor mounting plate (621) is detachably connected with the support frame (69), the two motor side vertical plates (622) are symmetrically arranged on the motor mounting plate (621) along the center line of the width direction of the support frame (69), and each motor side vertical plate (622) is detachably connected with the motor mounting plate (621), each sprocket motor (623) is correspondingly arranged on the inner side of one motor side vertical plate (622), and the shell of the sprocket motor (623) is detachably connected with the corresponding motor side vertical plate (622), the power output shaft of each sprocket motor (623) penetrates through the motor side vertical plate (622) and extends to the outer side of the motor side vertical plate (622), and one sprocket mounting sleeve (625) is arranged on the outer side of each motor side vertical plate (622), and each sprocket mounting sleeve (625) is correspondingly sleeved on the power output shaft of one sprocket motor (623), the motor connecting piece (624) is arranged between the two sprocket motors (623), and the motor connecting piece (624) is fixedly connected with the shells of the two sprocket motors (623); The transmission unit comprises a driving sprocket (61), a driven sprocket and a chain (63), the driving sprocket (61) is sleeved on one sprocket mounting sleeve (625), the driven sprocket is arranged directly below the driving sprocket (61) and is sleeved on the support shaft assembly at the lower part of the support frame (69), the chain (63) is sleeved on the driving sprocket (61) and the driven sprocket, and an axle hole connecting block is arranged on the outer circular surface of the chain (63) and is fixedly connected with the chain (63); The support shaft assembly is located directly below the driving motor assembly (62) and comprises a middle connecting block (80), two rotating shafts (81), two shaft system mounting seats (82) and two rotating bearings (83), the two shaft system mounting seats (82) are arranged on the two sides of the middle connecting block (80), and the top of the middle connecting block (80) and the two shaft system mounting seats (82) are detachably connected with the support frame (69), each rotating shaft (81) is correspondingly inserted into one shaft system mounting seat (82), and each rotating shaft (81) is rotatably connected with the shaft system mounting seat (82) through one rotating bearing (83), and one end of the rotating shaft (81) away from the middle connecting block (80) extends to the outside of the shaft system mounting seat (82) and is correspondingly inserted into one driven sprocket. The guide rail unit comprises two guide rail sliders (67) and two guide rails (68), the two guide rails (68) are symmetrically arranged on the outer wall of the long side of the support frame (69) along the center line of the length direction of the support frame (69), and each guide rail (68) is detachably connected with the support frame (69); each guide rail slider (67) is correspondingly arranged on one guide rail (68), and each guide rail slider (67) is slidably connected with the guide rail (68) where the guide rail slider (67) is arranged; The conveying table (66) comprises a movable plate (64), a movable frame (65), a connecting shaft and two asparagus limiting baffle plates (71), the movable frame (65) is arranged on the front side of the two guide rail sliders (67), and the movable frame (65) is fixedly connected with the two guide rail sliders (67); the movable plate (64) is embedded in the movable frame (65), and the movable plate (64) is slidably connected with the movable frame (65); the connecting shaft is arranged on the back side of the movable plate (64), one end of the connecting shaft is rotatably connected with the movable plate (64) through a bearing, the other end of the connecting shaft is inserted into an axle hole connecting block arranged on the outer circular surface of the chain (63), and the two asparagus limiting baffle plates (71) are arranged on the front side of the movable plate (64), and each asparagus limiting baffle plate (71) is detachably connected with the movable plate (64); The arrangement position of the asparagus limiting baffle plate (71) arranged close to the front end of the harvester among the two asparagus limiting baffle plates (71) is lower than the arrangement position of the asparagus limiting baffle plate (71) arranged close to the tail end of the harvester among the two asparagus limiting baffle plates (71).

7. A double row side shoot lettuce harvester according to claim 6, characterised in that: The gravity buffering unit (35) comprises an upper limiting sleeve (44), a sliding guide plate (45), a second steering engine (46), a first crank (47), a second crank (48), a bottom bucket (50) and two buffering slide rails (49), the sliding guide plate (45) is arranged in the vertical direction in the leaf stripping auxiliary frame (36), and the sliding guide plate (45) is fixedly connected with the inner wall of the leaf stripping auxiliary frame (36) away from the conveying mechanism (72) side, the middle part of the sliding guide plate (45) is processed with a guide groove along the length direction of the sliding guide plate (45), the upper limiting sleeve (44) and the bottom bucket (50) are arranged on the front side of the sliding guide plate (45), and the upper limiting sleeve (44) is located directly above the bottom bucket (50), the upper limiting sleeve (44) and the bottom bucket (50) are connected through a cross slider, the two buffering slide rails (49) are symmetrically arranged on the front side of the sliding guide plate (45) along the center line of the width direction of the guide groove, and each buffering slide rail (49) is fixedly connected with the sliding guide plate (45), the cross slider is arranged on the two buffering slide rails (49) and is slidably connected with the two buffering slide rails (49), the back side of the cross slider is provided with a sliding drive shaft, one end of the sliding drive shaft is fixedly connected with the back side of the cross slider, and the other end of the sliding drive shaft extends to the back side of the sliding guide plate (45) through the guide groove, the second steering engine (46) is arranged on the back side of the sliding guide plate (45), the shell of the second steering engine (46) is detachably connected with the leaf stripping auxiliary frame (36), the power output shaft of the second steering engine (46) is arranged towards the sliding guide plate (45), one end of the first crank (47) is sleeved on the power output shaft of the second steering engine (46), one end of the second crank (48) is hingedly connected with the other end of the first crank (47), and the other end of the second crank (48) is sleeved on the other end of the sliding drive shaft; The leaf stripping and clamping unit (37) comprises two clamping assemblies, the two clamping assemblies are oppositely arranged on the two sides of the gravity buffering unit (35), and each clamping assembly is detachably connected with the inner side wall of the leaf stripping auxiliary frame (36), the clamping assembly comprises a driving motor (39), a lead screw coupling (40), a lead screw (41), a leaf stripping clamping jaw (42), a thrust motor (43), a clamping mounting plate and a lead screw sliding block, the clamping mounting plate is detachably connected with the inner side wall of the leaf stripping auxiliary frame (36), the lead screw (41) is mounted on the inner side wall of the clamping mounting plate through a lead screw support, one end of the lead screw (41) is connected with the power output shaft of the driving motor (39) through the lead screw coupling (40), the shell of the driving motor (39) is detachably connected with the leaf stripping auxiliary frame (36), the lead screw sliding block is sleeved on the lead screw (41) and is slidably connected with the lead screw (41), the thrust motor (43) is arranged on the lead screw sliding block, the shell of the thrust motor (43) is detachably connected with the lead screw sliding block, the leaf stripping clamping jaw (42) is arranged on the piston push rod end of the thrust motor (43), and the leaf stripping clamping jaw (42) is detachably connected with the piston push rod end.

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