A vegetable harvesting and packing device, method, and harvester

Abstract

This invention discloses a vegetable orderly harvesting and packing device and method, and a harvester, including a pulling device, a cutting device, and an orderly conveying device. It also includes a vegetable guide device for containing and rotating the vegetables, a collection frame for collecting the vegetables, and a control device. The control device is connected to the pulling device, the cutting device, the orderly conveying device, and the vegetable guide device. The vegetable guide device is located at the discharge port of the orderly conveying device. The vegetables are vertically conveyed into the vegetable guide device, and under the rotation of the vegetable guide device, the vegetables detach from the vegetable guide device and are horizontally and orderly laid into the collection frame layer by layer. This orderly vegetable harvesting and packing device has the advantage of enabling the orderly packing of densely planted leafy vegetables.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment technology, specifically to a vegetable orderly harvesting and orderly packing device, orderly packing method, and harvester. Background Technology

[0002] Vegetable harvesters are important equipment for realizing the mechanization of vegetable planting. In my country, most leafy vegetables (such as bok choy, moss, amaranth, etc.) are planted in a high-density, disorderly manner. Currently, the harvesting of leafy vegetables under the high-density, disorderly planting method is basically to first use harvesting machinery to achieve disorderly harvesting, and then use manual labor for subsequent sorting and packing.

[0003] Existing orderly harvesters for densely planted leafy vegetables include a shearing device, a reciprocating cutting device, and an orderly conveying device. The reciprocating cutting device cuts the densely planted vegetables, which are then driven into the orderly conveying device by the shearing device. Afterward, manual processing and packing are carried out. Although this improves harvesting efficiency, the harvested leafy vegetables have poor appearance, and subsequent processing is difficult, which increases costs and reduces the commercial value. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a vegetable harvesting and packing device, method and harvester that can realize orderly harvesting and orderly packing of vegetables.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A vegetable harvesting and packing device includes a pulling device, a cutting device, and an orderly conveying device. It also includes a vegetable guide device for containing and rotating the vegetables, a collection frame for collecting the vegetables, and a control device. The control device is connected to the pulling device, the cutting device, the orderly conveying device, and the vegetable guide device. The vegetable guide device is located at the discharge port of the orderly conveying device. The vegetables are conveyed vertically into the vegetable guide device through the orderly conveying device. Under the rotation of the vegetable guide device, the vegetables are separated from the vegetable guide device and laid horizontally and orderly into the collection frame.

[0007] As a further improvement to the above technical solution:

[0008] The vegetable guiding device includes a vegetable frame and a rotating mechanism. The vegetable frame has an inlet on the side facing the discharge port of the orderly conveying device, and an outlet on the side opposite to the inlet. The side of the vegetable frame near the outlet has a side plate for controlling the opening and closing of the outlet. The rotating mechanism is connected to the vegetable frame for controlling the reciprocating rotation of the vegetable frame.

[0009] The vegetable frame is equipped with an opening and closing mechanism for controlling the movement of the side plate to open and close the discharge port. The upper end of the side plate is hinged to the vegetable frame. Under the action of the opening and closing mechanism, the side plate moves around the hinge point to open or close the discharge port. The inner side of the side plate is equipped with a first pressure sensor for detecting the squeezing pressure of the vegetables in the vegetable frame. The first pressure sensor is connected to the control device.

[0010] The opening and closing mechanism includes a cable, a fastener, and a drive component. The fastener is mounted on the side plate, and the drive component is mounted on the vegetable frame. One end of the cable is connected to the fastener, and the other end of the cable is connected to the drive component. A locking component is provided at the end of the side plate away from the hinge point. An electromagnetic control component is correspondingly provided on the vegetable frame. A pulley is also provided on the side plate, and the pulley is connected to the cable. The rotating mechanism includes a motor and a rotating shaft. The rotating shaft is connected to the vegetable frame, and the output shaft of the motor is connected to the rotating shaft.

[0011] The width of the inlet of the vegetable basket is the same as the width of the outlet of the orderly conveying device, and the length of the outlet of the vegetable basket is the same as the length of the collection basket.

[0012] The length of the vegetable basket is L. d Width is W d H is the height d The length of the collection frame is L. S Width is W S H is the height S The height of the vegetable is H j H j ≤W S L S =L d The projection of the center point of the rotation axis of the vegetable guiding device onto the ridge surface is set as o. A Cartesian coordinate system xoy is established on a plane parallel to the orthographic projection plane of the vegetable frame, with o as the origin. The width W of the vegetable frame on the xoy plane is... d =A1A2, High H d =A2A4 or A1A3, where H j =A2A4 or A1A3; the width W of the collection frame on the xoy plane S =B1B2, High H S =B2B4 or B1B3; The angle between A1A2 and the x-axis is θ, and the intersection of A1A2 and the y-axis is A, with coordinates (0, y). a ), where AA1=AA2=W d / 2=r, the projection coordinates of A2 on the x-axis are A2 ’ (rcosθ,0), the midpoint of B1B2 is B, and the coordinates of B are (x... b y b The projection coordinates of B1 on the x-axis are B1’ (x b -W s / 2,0), where rcosθ>x b -W s / 2, and y b +H S <y a -rsinθ.

[0013] The device includes a following device for controlling the movement of a collection frame in the vertical and horizontal directions, and the following device is connected to a control device. The following device includes a first conveyor belt, a first linear guide rail for controlling the vertical movement of the first conveyor belt, and a second linear guide rail for controlling the horizontal movement of the first conveyor belt. The first linear guide rail is connected to the first conveyor belt, and the first linear guide rail is connected to the second linear guide rail. The collection frame is disposed on the first conveyor belt. A second pressure sensor for detecting the pressure of the collection frame is provided on the first conveyor belt, and the second pressure sensor is connected to the control device.

[0014] One end of the following device is provided with an empty frame conveying device, and the other end of the following device is provided with a full frame conveying device. The empty frame conveying device includes a second conveyor belt, and the full frame conveying device includes a third conveyor belt. The empty frame conveying device and the full frame conveying device are connected to the control device.

[0015] The orderly conveying device includes an angle-adjusting motor, a contour push rod, a divider, a side skid, a side conveyor belt, and a frame. The angle-adjusting motor and the side conveyor belt are both mounted on the frame. The output end of the angle-adjusting motor is connected to a Y-shaped bearing seat, and the divider is connected to the Y-shaped bearing seat. The divider is also equipped with a vision sensor. The upper end of the contour push rod is connected to the frame, and the lower end of the contour push rod is connected to the side skid. The end of the side skid away from the contour push rod is hinged to the frame.

[0016] As a general inventive concept, the present invention also provides a harvester that includes the above-mentioned orderly harvesting and orderly packing device for vegetables.

[0017] As a general inventive concept, another aspect of the present invention provides a control method for the orderly harvesting and orderly packing of vegetables, applied in the above-mentioned orderly harvesting and orderly packing device for vegetables, comprising the following steps:

[0018] Step 1: Set the relative position of the following device and the cutting table on the vehicle-mounted touchscreen, adjust the cutting table height, and the position of the following device will be automatically adjusted in real time to ensure that rcosθ > x. b -W s / 2, and y b +H S <y a -rsinθ;

[0019] Step 2: The vegetables are efficiently cut by the pulling and cutting devices and then conveyed upright by the orderly conveying device.

[0020] Step 3: The vegetables follow the orderly conveying device and enter the vegetable guiding device in an upright state until the first pressure sensor on the vegetable guiding device sends a signal. The control device then controls the orderly conveying device to stop conveying, controls the vegetable guiding device to rotate, and controls the following device to be in the correct position. After the vegetables are laid horizontally in the collection box, the control device controls the orderly conveying device to continue conveying and controls the vegetable guiding device to rotate in the opposite direction to the initial position.

[0021] Step 4: Repeat Step 2 until the second pressure sensor sends a signal. The control device controls the movement of the following device, the empty frame conveying device, and the full frame conveying device to transport the collection box filled with vegetables from the following device to the full frame conveying device, and to transport the empty collection box from the empty frame conveying device to the following device.

[0022] Compared with the prior art, the advantages of the present invention are as follows: The orderly harvesting and orderly packing device of the present invention cuts densely planted vegetables with a cutting device, and under the drive of the pulling device, the vegetables enter the orderly conveying device upright and are continuously conveyed by the orderly conveying device until they are conveyed to the vegetable guiding device. The orderly conveying device can ensure that the vegetables are conveyed tightly and upright. After the vegetable guiding device is full of upright vegetables, the control device controls the orderly conveying device to stop conveying and simultaneously controls the vegetable guiding device to rotate. The vegetables in the vegetable guiding device also rotate with the vegetable guiding device. The vegetables detach from the vegetable guiding device and are horizontally and layer by layer orderly laid into the collection frame to fill a layer. Then the vegetable guiding device rotates back to the initial position. Once the sequential conveying device restarts, the next cycle can begin, with vegetables being layered onto the upper layer of the collection box. In this invention's orderly vegetable harvesting and packing device, vegetables enter the vegetable guiding device upright from the orderly conveying device. The rotation of the vegetable guiding device ensures that the vegetables rotate with it without becoming disordered. Then, they are orderly layered horizontally onto the collection box, achieving orderly packing. This solves the problem of orderly collection after orderly conveying of vegetables, eliminating the need for subsequent manual handling and avoiding damage to leafy vegetables caused by multiple handling processes. It overcomes the bottleneck in mechanized harvesting of leafy vegetables, not only improving harvesting efficiency but also reducing costs and increasing commercial value. The device also boasts advantages such as simple structure and reliable method. Attached Figure Description

[0023] Figure 1 A schematic diagram of the overall structure of a vegetable harvesting and packing device.

[0024] Figure 2 This is a three-dimensional structural diagram of an orderly conveying device.

[0025] Figure 3 This is a schematic diagram of the installation structure of the vision sensor in the orderly conveying device.

[0026] Figure 4 This is a three-dimensional structural diagram of a vegetable diversion device.

[0027] Figure 5 This is a schematic diagram of the left-side structure of the vegetable diversion device.

[0028] Figure 6 This is a three-dimensional structural diagram of the following device, the empty frame conveying device, and the full frame conveying device.

[0029] Figure 7 A geometrical diagram showing the positional relationship between the vegetable guide device and the following device.

[0030] Figure 8 System configuration diagram for an orderly vegetable harvesting and packing device.

[0031] Figure 9 This is a control flowchart for an orderly vegetable harvesting and packing device.

[0032] Legend:

[0033] 1. Rice-picking device; 2. Cutting device; 21. Cutter; 22. Cutter motor; 3. Orderly conveying device; 31. Angle adjustment motor; 32. Contouring push rod; 33. Rice divider; 34. Side skid; 35. Side conveyor belt; 36. Y-shaped bearing seat; 37. Vision sensor; 4. Vegetable guiding device; 41. Vegetable frame; 42. Rotating mechanism; 421. Motor; 422. Rotating shaft; 43. Feed inlet; 44. Side plate; 45. Opening and closing mechanism; 451. Cable; 452. Fastener; 453. Driving component; 454. Locking component; 455. Electromagnetic control component; 456. Pulley; 46. First pressure sensor; 5. Collection frame; 6. Following device; 61. First conveyor belt; 62. First linear guide rail; 63. Second linear guide rail; 7. Empty frame conveying device; 8. Full frame conveying device. Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figures 1 to 9As shown, the orderly harvesting and packing device for vegetables in this embodiment is suitable for the orderly harvesting and packing of densely planted leafy vegetables. It includes a pulling device 1, a reciprocating cutting device 2, and an orderly conveying device 3. It also includes a vegetable guide device 4 for containing and rotating the vegetables, a collection frame 5 for collecting the vegetables, and a control device. The control device is connected to the pulling device 1, the reciprocating cutting device 2, the orderly conveying device 3, and the vegetable guide device 4. The vegetable guide device 4 is located at the discharge port of the orderly conveying device 3. The orderly conveying device 3 is an intermittent conveying device. The vegetables are conveyed vertically into the vegetable guide device 4. Under the rotation of the vegetable guide device 4, the vegetables are separated from the vegetable guide device 4 and laid horizontally and orderly into the collection frame 5. In this embodiment, the orderly harvesting and orderly packing device for vegetables uses a reciprocating cutting device 2 to cut densely planted vegetables. Driven by the pulling device 1, the vegetables enter the orderly conveying device 3 upright and are continuously conveyed by the orderly conveying device 3 until they are conveyed to the vegetable guiding device 4. The orderly conveying device 3 ensures that the vegetables are conveyed tightly and upright. After the vegetable guiding device 4 is full of upright vegetables, the control device controls the orderly conveying device 3 to stop conveying and controls the vegetable guiding device 4 to rotate. The vegetables in the vegetable guiding device 4 also rotate with the vegetable guiding device 4. The vegetables are removed from the vegetable guiding device 4 and are laid horizontally in an orderly layer in the collection frame 5 to fill one layer. Then the vegetable guiding device 4 rotates to the initial position, and the orderly conveying device 3 starts conveying again to start the next cycle, and the vegetables are laid in the upper layer in the collection frame 5. This invention relates to a vegetable orderly harvesting and packing device. Vegetables are fed upright from an orderly conveying device 3 into a vegetable guiding device 4. The rotating vegetable guiding device 4 ensures the vegetables rotate with it without becoming disordered. Then, the vegetables are laid out in an orderly horizontal layer into a collection frame 5, achieving orderly packing. This solves the problem of orderly collection after orderly conveying, eliminating the need for manual subsequent handling and avoiding damage to leafy vegetables caused by multiple handling processes. It overcomes the bottleneck in mechanized harvesting of leafy vegetables, improving harvesting efficiency, reducing costs, and increasing commercial value. The device also boasts advantages such as simple structure and reliable method. The pulling device 1 and the reciprocating cutting device 2 are common vegetable harvesting devices.

[0036] In this embodiment, the reciprocating cutting device 2 includes a cutter 21 and a cutter motor 22. The orderly conveying device 3 includes an angle adjusting motor 31, a contouring pusher 32, a divider 33, a side skid 34, a side conveyor belt 35, and a frame. The angle adjusting motor 31 and the side conveyor belt 35 are both mounted on the frame. The output end of the angle adjusting motor 31 is connected to a Y-shaped bearing seat 36, and the divider 33 is connected to the Y-shaped bearing seat 36. The divider 33 is also equipped with a vision sensor 37. The upper end of the contouring pusher 32 is connected to the frame, and the lower end of the contouring pusher 32 is connected to the side skid 34. The end of the side skid 34 away from the contouring pusher 32 is hinged to the frame. The reciprocating cutting device 2 is located at the feed inlet of the side conveyor belt 35. During the vegetable harvesting operation, the cutter 21, driven by the cutter motor 22, performs radial reciprocating motion, efficiently completing the vegetable cutting task. The divider 33 and the angle adjustment motor 31 are connected via a Y-shaped bearing seat 36. Through the precise coordination between the divider 33 and the angle adjustment motor 31, dynamic angle adjustment is achieved, ensuring that the divider 33 is always at the most suitable working angle, thereby optimizing operational efficiency. The side skid plate 34 is connected to the contour push rod 32, allowing adjustment of the vertical position of the contour push rod 32 to adapt to the undulations of the farmland terrain, maintaining consistent cutting height and efficiency. The vegetables cut by the cutter 21 enter the side conveyor belt 35, which then transports them backward to the vegetable guide device 4 for orderly collection, achieving a smooth operational process from cutting to collection. A vision sensor 37 is installed on the divider 33. There are two vision sensors 37, which are located on opposite sides of the mechanism. They can use a dual-side synchronous scanning strategy to accurately determine the required angle adjustment. Accordingly, the angular displacement motor unit mounted on the frame is activated and executes rotational motion according to the received electrical signal command. Then, with the Y-shaped bearing seat 36 as the rotation center, the divider 33 is driven to complete the precise angle adjustment action.

[0037] In this embodiment, the vegetable guiding device 4 includes a vegetable frame 41 and a rotating mechanism 42. The vegetable frame 41 has an inlet 43 on the side facing the discharge port of the orderly conveying device 3, and an outlet on the side opposite the inlet 43. A side plate 44 for controlling the opening and closing of the outlet is located on the side of the vegetable frame 41 near the outlet. The rotating mechanism 42 is connected to the vegetable frame 41 to control its reciprocating rotation. Vegetables enter the inlet 43 of the vegetable frame 41 from the discharge port of the orderly conveying device 3. At this time, the side plate 44 is closed, and the outlet of the vegetable frame 41 is closed. When the vegetable frame 41 begins to rotate under the action of the rotating mechanism 42, the side plate 44 opens, opening the outlet and allowing the vegetables to pour out. In the next cycle, when the vegetable frame 41 rotates back to its initial position under the action of the rotating mechanism 42, the side plate 44 closes, allowing for the next cycle of vegetable loading. The vegetable guiding device 4 is a combination structure of the vegetable frame 41 and the rotating mechanism 42, which is simple in structure and easy to control. In this embodiment, the vegetable frame 41 is a square frame, with a feed inlet 43 on one side and a side plate 44 on the other side. The rotating mechanism 42 is connected to the control device.

[0038] In this embodiment, the vegetable frame 41 is provided with an opening and closing mechanism 45 for controlling the movement of the side plate 44 to open and close the discharge port. The upper end of the side plate 44 is hinged to the vegetable frame 41. Under the action of the opening and closing mechanism 45, the side plate 44 moves around the hinge point to open or close the discharge port. The way in which the side plate 44 moves from bottom to top around the hinge point to gradually open the discharge port, compared with the way it opens from top to bottom or from both sides, can obstruct the vegetables until the side plate 44 is fully opened, so that all the vegetables can slide down along the trajectory of the side plate 44. This can further ensure that the vegetables are poured into the collection frame 5 in an orderly manner from the discharge port and ensure the reliability of the layering.

[0039] In this embodiment, a first pressure sensor 46 for detecting the squeezing pressure of vegetables inside the vegetable basket 41 is provided on the inner side of the side plate 44. The first pressure sensor 46 is connected to the control device. Vegetables are continuously and uprightly conveyed into the vegetable basket 41 from the orderly conveying device 3. During the conveying process, the first pressure sensor 46 on the inner side of the side plate 44 is squeezed. When the vegetables are squeezed to the set value of the first pressure sensor 46, the vegetable basket 41 rotates, and the orderly conveying device 3 stops conveying. In this embodiment, two first pressure sensors 46 are provided.

[0040] In this embodiment, the opening and closing mechanism 45 includes a cable 451, a fastener 452, and a drive member 453. The fastener 452 is mounted on the side plate 44, and the drive member 453 is mounted on the vegetable frame 41. One end of the cable 451 is connected to the fastener 452, and the other end of the cable 451 is connected to the drive member 453. A locking member 454 is provided at the end of the side plate 44 away from the hinge point. An electromagnetic control member 455 is correspondingly provided on the vegetable frame 41. A pulley 456 is also provided on the side plate 44, and the pulley 456 is connected to the cable 451. The rotating mechanism 42 includes a motor 421 and a rotating shaft 422. The rotating shaft 422 is connected to the vegetable frame 41, and the output shaft of the motor 421 is connected to the rotating shaft 422. The pulley 456 can guide and limit the movement of the cable 451, and the drive member 453 can be a motor reducer assembly. When the side plate 44 needs to be opened, the electromagnetic control component 455 is de-energized, eliminating the magnetic attraction effect on the locking component 454, thereby releasing the locked state. Then, the drive component 453 moves to drive the pull cable 451 to retract. Since one end of the pull cable 451 is connected to the fastener 452 on the side plate 44, when the pull cable 451 retracts, the side plate 44 rotates from bottom to top around the hinge point, thereby opening the discharge port. When the side plate 44 needs to be closed, the drive component 453 rotates in the opposite direction, the pull cable 451 is released, and the side plate 44 rotates from top to bottom around the hinge point under the action of gravity, causing the locking component 454 to gradually approach the electromagnetic control component 455. The electromagnetic control component 455 is energized, quickly generating a strong magnetic attraction force, which attracts the locking component 454, thereby closing the discharge port. This combined structure of the opening and closing mechanism 45 ensures the safe closure of the side plate 44. When energized, the side plate 44 closes the discharge port; when de-energized, the side plate 44 springs open. The structure is simple and easy to control. The rotating mechanism 42 is a combination of a motor 421 and a rotating shaft 422, resulting in a simple, compact structure that is also easy to control. The control device is connected to the opening and closing mechanism 45 and the rotating mechanism 42.

[0041] In this embodiment, the width of the inlet 43 of the vegetable basket 41 is the same as the width of the outlet port of the orderly conveying device 3, and the length of the outlet of the vegetable basket 41 is the same as the length of the collection basket 5. This ensures that all the vegetables in the orderly conveying device 3 enter the vegetable basket 41 and maintain the tightness between the vegetables, while also ensuring that all the vegetables in the vegetable basket 41 enter the collection basket 5.

[0042] In this embodiment, the length of the vegetable basket 41 is L. d Width is W d H is the height d The length of collection box 5 is L S Width is W S H is the height S The height of the vegetables is H j H j ≤W S LS =L d The projection of the center point of the rotation axis of the vegetable guide device 4 onto the ridge surface is set as o. With o as the origin, a Cartesian coordinate system xoy is established on a plane parallel to the orthographic projection plane of the vegetable frame 41. The width W of the vegetable frame 41 on the xoy plane is... d =A1A2, High H d =A2A4 or A1A3, where H j =A2A4 or A1A3; the width W of collection box 5 on the xoy plane S =B1B2, High H S =B2B4 or B1B3; The angle between A1A2 and the x-axis is θ, and the intersection of A1A2 and the y-axis is A, with coordinates (0, y). a ), where AA1=AA2=W d / 2=r, the projection coordinates of A2 on the x-axis are A2 ’ (rcosθ,0), the midpoint of B1B2 is B, and the coordinates of B are (x... b y b The projection coordinates of B1 on the x-axis are B1 ’ (x b -W s / 2,0), where rcosθ>x b -W s / 2, and y b +H S <y a -rsinθ. This ensures that the vegetables in vegetable basket 41 can always be layered into collection basket 5.

[0043] In this embodiment, a following device 6 is included to control the movement of the collection box 5 in the vertical and horizontal directions and the front-back direction. The following device 6 is connected to the control device. During operation, the device will adaptively adjust its height according to the ridge surface, so the height of the vegetable guiding device 4 will also change. The following device 6 enables the collection box 5 and the vegetable guiding device 4 to move in tandem, ensuring the reliability and stability of the layer-by-layer vegetable collection.

[0044] In this embodiment, the following device 6 includes a first conveyor belt 61, a first linear guide rail 62 for controlling the up-and-down movement of the first conveyor belt 61, and a second linear guide rail 63 for controlling the back-and-forth movement of the first conveyor belt 61. The first linear guide rail 62 is connected to the first conveyor belt 61, and the first linear guide rail 62 is connected to the second linear guide rail 63. The collection box 5 is disposed on the first conveyor belt 61. When the height of the vegetable guiding device 4 changes, the first linear guide rail 62 and / or the second linear guide rail 63 can control the overall up-and-down or back-and-forth movement of the first conveyor belt 61, thereby causing the collection box 5 on the first conveyor belt 61 to follow the movement of the vegetable guiding device 4. This ensures that the vegetable guiding device 4 can orderly pack the vegetables. When the collection box 5 on the following device 6 is full of vegetables, the movement of the first conveyor belt 61 can transport the collection box 5 away. The following device 6 is configured as a combination structure of a conveyor belt and two linear guide rails, which is simple in structure and easy to control. There are two first linear guide rails 62 and two second linear guide rails 63.

[0045] In this embodiment, a second pressure sensor for detecting the pressure of the collection box 5 is provided on the first conveyor belt 61. The second pressure sensor is connected to the control device. The second pressure sensor transmits the pressure signal of whether the collection box 5 is full to the control device, and the control device controls the following device 6 to move and transport the full collection box 5 away.

[0046] In this embodiment, one end of the following device 6 is provided with an empty frame conveying device 7, and the other end of the following device 6 is provided with a full frame conveying device 8. The empty frame conveying device 7 includes a second conveyor belt, and the full frame conveying device 8 includes a third conveyor belt. The empty frame conveying device 7 and the full frame conveying device 8 are connected to the control device. An empty frame conveying device 7 and a full frame conveying device 8 are respectively provided at the front and rear ends of the following device 6. When the collection box 5 on the following device 6 is filled with vegetables, the first conveyor belt 61 transports the collection box 5 to the full frame conveying device 7, while the empty frame conveying device 8 transports the collection box 5 without vegetables to the first conveyor belt 61. This process is then repeated. Using conveyor belts for both the empty frame conveying device 7 and the full frame conveying device 8 facilitates control. Preferably, baffles are provided on the first conveyor belt 61, the second conveyor belt, and the third conveyor belt, extending along the conveying direction of the corresponding conveyor belt.

[0047] The harvester in this embodiment includes a vegetable harvesting and packing device.

[0048] The control method for orderly harvesting and packing of vegetables in this embodiment is applied to an orderly harvesting and packing device for vegetables, and includes the following steps:

[0049] Step 1: Set the relative position of the following device 6 and the cutting table on the vehicle-mounted touchscreen, adjust the height of the cutting table, and the position of the following device 6 will be automatically adjusted in real time to ensure that rcosθ > x b -Ws / 2, and y b +H S <y a -rsinθ;

[0050] Step 2: The vegetables are efficiently cut by the pulling device 1 and the reciprocating cutting device 2, and then conveyed in an upright state by the orderly conveying device 3.

[0051] Step 3: Vegetables follow the orderly conveying device 3 and enter the vegetable guiding device 4 in an upright state until the first pressure sensor 46 on the vegetable guiding device 4 sends a signal. The control device controls the orderly conveying device 3 to stop conveying, controls the vegetable guiding device 4 to rotate, and controls the following device 6 to be in the correct position. After the vegetables are laid horizontally in the collection box 5, the control device controls the orderly conveying device 3 to continue conveying and controls the vegetable guiding device 4 to rotate in the opposite direction to the initial position.

[0052] Step 3: Repeat Step 2 until the second pressure sensor sends a signal. The control device controls the following device 6, the empty frame conveying device 7 and the full frame conveying device 8 to move, transporting the collection box 5 filled with vegetables from the following device 6 to the full frame conveying device 8, and transporting the empty collection box 5 from the empty frame conveying device 7 to the following device 6.

[0053] The method for controlling the orderly harvesting and packing of this type of vegetable adopts a solution of engineering vehicle controller plus vehicle-mounted touch screen, which has advantages such as strong resistance to high vibration, high impact, and electromagnetic interference. The main control system uses a combination of switch signals and bus to control each actuator in real time.

[0054] The reeling device 1, reciprocating cutting device 2, orderly conveying device 3, following device 6, empty frame conveying device 7, and full frame conveying device 8 all use DC brushless motors, while the electric push rods on the left and right sides use brushed DC motors. All of the above actuators are controlled by the switch signals of the control system.

[0055] The flipping mechanism of the vegetable guide device 4, the up-and-down moving mechanism of the following device 6, and the forward-and-backward moving mechanism of the following device 6 all use DC servo motors and are controlled by the CANOPEN bus of the control system.

[0056] The following device 6 maintains a constant relative position with the cutting table. When the height of the cutting table changes, two displacement sensors installed on the cutting table detect the changes in the height and forward / backward position of the cutting table and generate a 4-20mA analog signal to feed back to the main control system. Based on the received cutting table position change signal, the main control system controls the servo motors of the up-down and forward / backward movement mechanisms of the following device 6 in real time, thereby ensuring that the relative position of the following device 6 with the cutting table remains constant.

[0057] The above description is merely a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited to the above embodiments. For those skilled in the art, improvements and modifications obtained without departing from the inventive concept should also be considered within the scope of protection of the present invention.

Claims

1. A vegetable harvesting and packing device, comprising a shearing device (1), a cutting device (2), and an orderly conveying device (3), characterized in that: It also includes a vegetable guide device (4) for containing and rotating vegetables, a collection frame (5) for collecting vegetables, and a control device. The control device is connected to the picking device (1), the cutting device (2), the orderly conveying device (3), and the vegetable guide device (4). The vegetable guide device (4) is located at the discharge port of the orderly conveying device (3). The vegetables are conveyed vertically to the vegetable guide device (4) through the orderly conveying device (3). Under the rotation of the vegetable guide device (4), the vegetables are separated from the vegetable guide device (4) and laid horizontally and layer by layer into the collection frame (5). The vegetable guide device (4) includes a vegetable frame (41) and a rotating mechanism (42). The vegetable frame (41) has an inlet (43) on the side facing the discharge port of the orderly conveying device (3). The vegetable frame (41) has an outlet on the side opposite to the inlet (43). The vegetable frame (41) has a side plate (44) on the side near the outlet for controlling the opening and closing of the outlet. The rotating mechanism (42) is connected to the vegetable frame (41) for controlling the reciprocating rotation of the vegetable frame (41). The vegetable frame (41) is provided with an opening and closing mechanism (45) for controlling the movement of the side plate (44) to open and close the discharge port. The upper end of the side plate (44) is hinged to the vegetable frame (41). Under the action of the opening and closing mechanism (45), the side plate (44) moves around the hinge point to open or close the discharge port. The inner side of the side plate (44) is provided with a first pressure sensor (46) for detecting the squeezing pressure of vegetables in the vegetable frame (41). The first pressure sensor (46) is connected to the control device. It also includes a following device (6) for controlling the movement of the collection box (5) in the up-down and front-back directions, the following device (6) being connected to the control device; The width of the inlet of the vegetable basket (41) is the same as the width of the outlet of the orderly conveying device (3), and the length of the outlet of the vegetable basket (41) is the same as that of the collection basket (5). The orderly conveying device (3) includes an angle-adjusting motor (31), a contour push rod (32), a divider (33), a side skid plate (34), a side conveyor belt (35), and a frame. The angle-adjusting motor (31) and the side conveyor belt (35) are both mounted on the frame. The output end of the angle-adjusting motor (31) is connected to a Y-shaped bearing seat (36). The divider (33) is connected to the Y-shaped bearing seat (36). The divider (33) is also equipped with a vision sensor (37). The upper end of the contour push rod (32) is connected to the frame, and the lower end of the contour push rod (32) is connected to the side skid plate (34). The end of the side skid plate (34) away from the contour push rod (32) is hinged to the frame.

2. The vegetable orderly harvesting and orderly packing device according to claim 1, characterized in that: The opening and closing mechanism (45) includes a cable (451), a fastener (452), and a drive component (453). The fastener (452) is mounted on the side plate (44), and the drive component (453) is mounted on the vegetable frame (41). One end of the cable (451) is connected to the fastener (452), and the other end of the cable (451) is connected to the drive component (453). A locking component (454) is provided at the end of the side plate (44) away from the hinge point. An electromagnetic control component (455) is provided on the vegetable frame (41). A pulley (456) is also provided on the side plate (44), and the pulley (456) is connected to the cable (451). The rotating mechanism (42) includes a motor (421) and a rotating shaft (422). The rotating shaft (422) is connected to the vegetable frame (41), and the output shaft of the motor (421) is connected to the rotating shaft (422).

3. The vegetable orderly harvesting and orderly packing device according to claim 2, characterized in that: The length of the vegetable basket (41) is L d Width is W d H is the height d The length of the collection frame (5) is L. S Width is W S H is the height S The height of the vegetable is H j H j ≤W S L S =L d The projection of the center point of the rotation axis of the vegetable guide device (4) onto the ridge surface is set as o. With point o as the origin, a plane rectangular coordinate system xoy is established on a plane parallel to the orthographic projection plane of the vegetable frame (41). The width W of the vegetable frame (41) on the xoy plane is... d =A1A2、High H d =A2A4 or A1A3, where H j =A2A4 or A1A3; the width W of the collection frame (5) on the xoy plane S =B1B2、High H S =B2B4 or B1B3; The angle between A1A2 and the x-axis is θ, and the intersection of A1A2 and the y-axis is A, with coordinates (0, y). a ), where AA1=AA2=W d / 2=r, the projection coordinates of A2 on the x-axis are A2 ’ (rcosθ, 0), the midpoint of B1B2 is B, and the coordinates of B are (x... b y b The projection coordinates of B1 on the x-axis. ’ (x) b -W s / 2,0), where rcosθ>x b -W s / 2, and y b +H S <y a -rsinθ.

4. The vegetable orderly harvesting and orderly packing device according to claim 3, characterized in that: The following device (6) includes a first conveyor belt (61), a first linear guide rail (62) for controlling the up and down movement of the first conveyor belt (61), and a second linear guide rail (63) for controlling the back and forth movement of the first conveyor belt (61). The first linear guide rail (62) is connected to the first conveyor belt (61), and the first linear guide rail (62) is connected to the second linear guide rail (63). The collection frame (5) is disposed on the first conveyor belt (61). A second pressure sensor for detecting the pressure of the collection frame (5) is disposed on the first conveyor belt (61), and the second pressure sensor is connected to the control device.

5. The vegetable orderly harvesting and orderly packing device according to claim 4, characterized in that: One end of the following device (6) is provided with an empty frame conveying device (7), and the other end of the following device (6) is provided with a full frame conveying device (8). The empty frame conveying device (7) includes a second conveyor belt, and the full frame conveying device (8) includes a third conveyor belt. The empty frame conveying device (7) and the full frame conveying device (8) are connected to the control device.

6. A harvester, characterized in that: The device includes any one of claims 1 to 5 for orderly harvesting and packing of vegetables.

7. A method for controlling the orderly harvesting and packing of vegetables, characterized in that: The device for orderly harvesting and orderly packing of vegetables, as described in any one of claims 3 to 5, comprises the following steps: Step 1: Set the relative position of the following device (6) and the cutting table on the vehicle-mounted touch screen, adjust the height of the cutting table, and the position of the following device (6) will be automatically adjusted in real time to ensure that rcosθ>x b -W s / 2, and y b +H S <y a -rsinθ; Step 2: The vegetables are efficiently cut by the pulling device (1) and the cutting device (2), and then conveyed in an upright state by the orderly conveying device (3); Step 3: Vegetables follow the orderly conveying device (3) and enter the vegetable guiding device (4) in an upright state until the first pressure sensor (46) on the vegetable guiding device (4) sends a signal. The control device controls the orderly conveying device (3) to stop conveying, controls the vegetable guiding device (4) to rotate, and controls the following device (6) to be in the correct position. After the vegetables are laid horizontally in the collection box (5), the control device controls the orderly conveying device (3) to continue conveying and controls the vegetable guiding device (4) to rotate in the opposite direction to the initial position. Step 4: Repeat step 2 until the second pressure sensor sends a signal. The control device controls the following device (6), empty frame conveying device (7) and full frame conveying device (8) to move, transporting the collection box (5) filled with vegetables from the following device (6) to the full frame conveying device (8), and transporting the empty collection box (5) from the empty frame conveying device (7) to the following device (6).

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