Whole plant harvesting apparatus and method for leafy vegetables

Abstract

The application discloses a whole plant harvesting device and method for leaf vegetables, which comprises a frame, a flexible disturbance loosening mechanism arranged at the front end of the frame, a positioning and clamping mechanism arranged at the front part of the frame and located behind the flexible disturbance loosening mechanism, a feeding and bundling mechanism arranged at the middle part of the frame and located behind the positioning and clamping mechanism, a cutting and conveying mechanism arranged at the rear part of the frame and located behind the feeding and bundling mechanism, and a control device arranged on the frame and connected to and controlling the flexible disturbance loosening mechanism, the positioning and clamping mechanism, the feeding and bundling mechanism and the cutting and conveying mechanism. The application can improve the whole plant harvesting efficiency of leaf vegetables.

Description

Technical Field

[0001] This invention relates to a leafy vegetable harvesting device and harvesting method, and particularly to a whole leafy vegetable harvesting device and harvesting method. Background Technology

[0002] Domestically and internationally, leafy vegetables are mostly harvested using stubble cutting and unordered harvesting methods, which presents the following problems: ① Excessive stem and leaf residue leads to significant losses; stubble cutting increases the chance of microbial contamination, reduces shelf life, and places higher demands on subsequent preservation treatments, significantly increasing overall production costs; ② Excessive stubble cutting results in scattered and disordered petioles, requiring manual sorting, bundling, and packing; ③ Harvested leafy vegetables can only be sold loose leaves, which is readily accepted abroad but not suitable for domestic consumer preferences. Therefore, mechanized harvesting of leafy vegetables is an essential trend for the industrialization of leafy vegetables.

[0003] Domestic and foreign scholars have explored and experimented with flexible harvesting of leafy vegetables and achieved good results. However, the following problems were found in the research process: ① Leafy vegetables have tender stems and leaves with high water content (>90%), and the edible parts are soft and fragile, making them very easy to break during harvesting; ② There are many varieties of leafy vegetables, their growth environment is complex, their macroscopic material characteristics vary greatly, and their development is uneven, which greatly increases the difficulty of harvesting; ③ Leafy vegetable planting requires reasonable dense planting to increase yield, resulting in small row and plant spacing, which restricts the working space of harvesting institutions.

[0004] Therefore, how to design an orderly and low-loss harvesting method for leafy vegetables to achieve efficient and low-loss harvesting of leafy vegetables from the source of technology has become an urgent problem to be solved by those skilled in the art. It has important practical significance for accelerating the mechanization of leafy vegetable harvesting and promoting the high-quality and efficient development of the vegetable industry. Summary of the Invention

[0005] The purpose of this invention is to provide a whole-plant harvesting device and method for leafy vegetables, which can improve the efficiency of whole-plant harvesting of leafy vegetables.

[0006] To achieve the above objectives, the present invention provides a whole-plant harvesting device for leafy vegetables, comprising: a frame; a flexible soil-loosening mechanism disposed at the front end of the frame for disturbing the soil around the roots of the leafy vegetables to break the soil and facilitate uprooting the leafy vegetables; a positioning and clamping mechanism disposed at the front of the frame and behind the flexible soil-loosening mechanism for uprooting and clamping the disturbed leafy vegetables, thereby achieving the process of compliant uprooting and separate clamping of the leafy vegetables; and a feeding and binding mechanism disposed in the middle of the frame. Located behind the positioning and clamping mechanism, it is used to feed the harvested leafy vegetables and remove damaged leafy vegetables, and to automatically bundle them in a quantitative manner; a cutting and conveying mechanism is located at the rear of the frame and behind the feeding and bundling mechanism, which cuts the bundled leafy vegetables and conveys them to the harvest box to complete the harvesting process; and a control device is located on the frame, connected to the flexible soil loosening mechanism, the positioning and clamping mechanism, the feeding and bundling mechanism and the cutting and conveying mechanism, and controls them.

[0007] The flexible soil loosening mechanism includes multiple air-explosion loosening cylinders, an air pump, and multiple air supply pipes. The air-explosion loosening cylinders, the air pump, and the air supply pipes are connected to the frame. The air-explosion loosening cylinders are evenly arranged in a linear array at the front end of the frame. One end of the air supply pipe is connected to the air pump, and the other end is connected to the air-explosion loosening cylinder.

[0008] The air-explosion loosening cylinder includes an air inlet, an airflow speed control switch, and multiple air outlets. The air inlet is located at one end of the air-explosion loosening cylinder and is connected to the air supply pipeline. The air outlets are evenly distributed at the other end of the air-explosion loosening cylinder and arranged in a circumferential array. The airflow speed control switch is located between the air inlet and the air outlets.

[0009] The positioning and clamping mechanism includes at least two positioning and clamping telescopic electric cylinders and a rice-dividing clamping mechanism. The fixed end of the positioning and clamping telescopic electric cylinder is connected to the frame, and the movable end is connected to the rice-dividing clamping mechanism to control the rice-dividing clamping mechanism to move up and down.

[0010] The positioning and clamping mechanism also includes a forward and backward moving mechanism, which is disposed between the positioning and clamping telescopic electric cylinder and the frame, or between the positioning and clamping telescopic electric cylinder and the separating clamping mechanism. The forward and backward moving mechanism can control the positioning and clamping mechanism to move or retract in the direction of the feeding and binding mechanism.

[0011] The rice separating clamping mechanism includes two flexible clamping frames, multiple rice separating clamping electric cylinders, one rice separating clamping mounting frame, and two rice separating clamping support frames. The rice separating clamping mounting frame is connected to the moving end of the positioning clamping telescopic electric cylinder. The rice separating clamping electric cylinder, the rice separating clamping support frame, and the flexible clamping frame are symmetrically distributed on both sides of the rice separating clamping mounting frame. The fixed end of the rice separating clamping electric cylinder is connected to the rice separating clamping mounting frame, and the moving end is connected to one end of the rice separating clamping support frame to control the opening and closing of the rice separating clamping support frame. The flexible clamping frame is connected to the other end of the rice separating clamping support frame.

[0012] The feeding and bundling mechanism includes a collection and conveying mechanism, a rejection and conveying mechanism, and an automatic bundling mechanism. The collection and conveying mechanism is connected to the frame and its front end is adjacent to the positioning and clamping mechanism. The collection and conveying mechanism, the rejection and conveying mechanism, and the automatic bundling mechanism are sequentially connected to form a transmission path.

[0013] The rejection conveying mechanism includes a camera, a rejection mechanism, a conveying and feeding mechanism, and a conveying box. The conveying and feeding mechanism is connected to the frame and its front end is adjacent to the end of the collection and conveying mechanism. The camera is located above the frame and corresponds to the conveying and feeding mechanism. The rejection mechanism includes a rejection plate and a rejection electric cylinder. The fixed end of the rejection electric cylinder is connected to the frame on the side of the conveying and feeding mechanism. The rejection plate is connected to the moving end of the rejection electric cylinder and can move on the conveying and feeding mechanism along a direction perpendicular to the conveying path. The conveying box is located on the frame on the other side of the conveying and feeding mechanism and corresponds to the rejection mechanism.

[0014] The automatic strapping mechanism includes a strapping bracket, a strapping motor, a strapping wheel, a strapping transmission mechanism, and multiple strapping conveying rollers. The strapping bracket is connected to the frame and its front end is adjacent to the end of the rejection conveying mechanism. The strapping bracket includes two parallel frame bodies arranged along the transmission path. The multiple strapping conveying rollers are arranged side by side between the two parallel frame bodies and perpendicular to them. The strapping transmission mechanism is mounted on the strapping bracket. The strapping wheel is mounted on the strapping transmission mechanism and is driven by it to perform circular motion. The strapping motor is located below the strapping bracket and connected to the strapping transmission mechanism to provide power to it.

[0015] The cutting and conveying mechanism includes a leaf cutting mechanism, a whole plant conveying mechanism, and a harvesting box. The leaf cutting mechanism is connected to the frame on one side of the rear end of the feeding and binding mechanism. The whole plant conveying mechanism and the harvesting box are sequentially connected and respectively connected to the frame. The front end of the whole plant conveying mechanism is connected to the rear end of the feeding and binding mechanism.

[0016] The leafy vegetable cutting mechanism includes a horizontal telescopic mechanism, a telescopic cutting bracket, and a central cutting mechanism. The telescopic cutting bracket is connected to the frame, and the central cutting mechanism is connected to the telescopic cutting bracket with its front end corresponding to the rear end of the feeding and binding mechanism. The horizontal telescopic mechanism is connected to the telescopic cutting bracket and the central cutting mechanism to control the telescopic distance of the central cutting mechanism.

[0017] The horizontal telescopic mechanism includes a double telescopic electric cylinder and a telescopic slider. The double telescopic electric cylinder is connected to the telescopic cutting bracket, and the telescopic slider is connected to the front end of the double telescopic electric cylinder and to the front end of the middle cutting mechanism.

[0018] The central cutting mechanism includes a central cutting electric cylinder, a movable slider, and a scissor unit. The central cutting electric cylinder is connected to the telescopic cutting bracket, and the movable end of the central cutting electric cylinder, the movable slider, and the scissor unit are connected in sequence.

[0019] It also includes multiple rotating wheels and a drive device. The multiple rotating wheels are located below the frame, the drive device is located on the frame and connected to the multiple rotating wheels, and the control device is connected to the drive device to control the movement of the frame through the drive device.

[0020] To achieve the above objectives, the present invention also provides a method for harvesting whole leafy vegetables, which uses the leafy vegetable whole-plant harvesting device described above. The method for harvesting whole leafy vegetables includes:

[0021] Step 1) Determine the airflow speed and soil penetration depth of the flexible soil-loosening mechanism based on soil properties and the rooting depth of leafy vegetables; adjust the working parameters of the flexible soil-loosening mechanism, the positioning and clamping mechanism, the feeding and binding mechanism, and the cutting and conveying mechanism through the control device.

[0022] Specifically, based on soil properties and the rooting depth of leafy vegetables, the airflow velocity and soil penetration depth of the air-blasting loosening cylinder are determined; the control device is used to check and adjust the working parameters of the flexible soil-loosening mechanism, the positioning clamping mechanism, the feeding and binding mechanism, and the cutting and conveying mechanism, so that the motor operating speed reaches the preset value, the electric cylinder runs smoothly, and the camera works normally. The components checked and adjusted include the air pump of the flexible soil-loosening mechanism, the positioning clamping mechanism's upper and lower telescopic electric cylinders and the dividing clamping electric cylinder, the feeding and binding mechanism's removal electric cylinder, the binding motor, and the camera, and the cutting and conveying mechanism's double telescopic electric cylinder and the middle cutting electric cylinder.

[0023] Step 2) Start the whole leafy vegetable harvesting device. The flexible soil-loosening mechanism agitates the soil around the roots of the leafy vegetables by outputting airflow, causing the roots of the leafy vegetables to separate from the soil.

[0024] Specifically, the air pump delivers airflow to the air-exploding soil loosening cylinder through the air delivery pipe, so that the air-exploding soil loosening cylinder penetrates into the soil, disturbs the soil around the leafy vegetable roots, and separates the leafy vegetable roots from the soil.

[0025] Step 3) The positioning and clamping mechanism separates and clamps the leafy vegetables, and pulls them out of the soil;

[0026] Specifically, under the action of the positioning clamping electric cylinder, the dividing and holding mechanism moves downward to the surface of the leafy vegetable soil. The dividing and holding support frame, close to the leafy vegetable soil surface, is driven by the dividing and holding electric cylinder to close the flexible clamping frame, completing the leafy vegetable dividing and holding process. After clamping the leafy vegetable, the dividing and holding support frame moves upward under the action of the positioning clamping electric cylinder. When the pulling force is greater than the separation force between the leafy vegetable roots and the soil but less than the damage force to the leafy vegetable, the leafy vegetable is compliantly pulled out. If the pulling force is greater than the damage force to the leafy vegetable, the airflow speed of the flexible soil-loosening mechanism is adjusted to enhance its soil-breaking ability and reduce the separation force between the leafy vegetable roots and the soil. After the leafy vegetable is pulled out, the dividing and holding mechanism moves the leafy vegetable to the feeding and binding mechanism under the action of the forward and backward moving mechanism. Then, under the action of the dividing and holding electric cylinder, the flexible clamping frame is driven to open, placing the leafy vegetable on the feeding and binding mechanism.

[0027] Step 4) The positioning and clamping mechanism places the harvested leafy vegetables into the feeding and binding mechanism. The feeding and binding mechanism identifies and removes bad leafy vegetables, while binding the good quality leafy vegetables after screening.

[0028] Specifically, the positioning clamping mechanism clamps the leafy greens and moves them to the collection and conveying mechanism, where they are placed. The collection and conveying mechanism then transports the leafy greens to the rejection conveying mechanism. The camera identifies the leafy greens being transported on the feeding and conveying mechanism. When the camera detects damaged leafy greens, the feeding and conveying mechanism stops moving, and the rejection mechanism pushes the damaged leafy greens into the conveying box. The feeding and conveying mechanism then continues moving, transporting and feeding the identified and selected high-quality leafy greens to the automatic bundling mechanism. Under the action of the bundling conveying roller, the leafy greens move to the bundling wheel, which, under the action of the bundling transmission mechanism, rotates around the leafy greens in a circular motion, wrapping them with tape to complete the automatic bundling process.

[0029] Step 5) The cutting and conveying mechanism cuts the roots of the bundled leafy vegetables and collects the bundled and root-cut leafy vegetables to complete the harvesting process;

[0030] Specifically, the bundled leafy vegetables are transported to the leafy vegetable cutting mechanism, which drives the horizontal telescopic mechanism to move the central cutting mechanism inward a certain distance. Once it reaches the root of the leafy vegetable and stops, the central cutting mechanism is then driven to close the scissor unit, completing the root cutting process. The horizontal telescopic mechanism is then driven to move the central cutting mechanism back to its original position. The bundled and root-cut leafy vegetables continue to be transported to the whole-plant conveying mechanism, and then to the harvesting box, completing the orderly harvesting process of the whole leafy vegetables.

[0031] Compared with the prior art, the whole-plant harvesting device and harvesting method for leafy vegetables of the present invention have the following significant technical effects:

[0032] This invention relates to a device and method for the orderly harvesting of leafy vegetables through flexible soil disturbance, positioning and clamping, feeding and bundling, cutting and conveying. It integrates the processes of flexible soil disturbance, positioning and clamping, bundling, feeding, cutting and conveying of leafy vegetables, and can automatically clamp, bundle, cut and convey leafy vegetables, achieving orderly harvesting of whole leafy vegetables. This greatly improves the harvesting efficiency of leafy vegetables, effectively reduces the damage rate, ensures the quality of harvested leafy vegetables, solves the problems of high labor intensity and high operating costs, and effectively improves the harvesting performance and automation level of leafy vegetables.

[0033] The system adjusts airflow speed and soil penetration depth based on soil properties and leafy vegetable root depth to ensure easy separation of leafy vegetable roots from the soil, effectively reducing damage rate. The separating and clamping mechanism, driven by an electric cylinder, performs up-and-down and opening / closing movements, enabling smooth extraction and separating of leafy vegetables, resulting in orderly harvesting of the entire plant. The removal and conveying mechanism removes damaged leafy vegetables after harvest, further ensuring the quality and efficiency of the harvest. The automatic bundling and cutting mechanisms work together to automatically bundle and cut the roots of the leafy vegetables, further improving harvesting efficiency.

[0034] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the whole leafy vegetable harvesting device provided in a preferred embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of a flexible soil loosening mechanism provided in a preferred embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the structure of the air-explosion soil loosening cylinder provided in a preferred embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of a positioning and clamping mechanism provided in a preferred embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of a preferred embodiment of the grain-separating and clamping mechanism provided by the present invention;

[0040] Figure 6 This is a schematic diagram of the feeding and binding mechanism provided in a preferred embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of the rejection conveying mechanism provided in a preferred embodiment of the present invention;

[0042] Figure 8 This is a schematic diagram of the rejection mechanism structure provided in a preferred embodiment of the present invention;

[0043] Figure 9 This is a schematic diagram of an automatic strapping mechanism provided in a preferred embodiment of the present invention;

[0044] Figure 10 This is a schematic diagram of a cutting and conveying mechanism provided in a preferred embodiment of the present invention;

[0045] Figure 11 This is a schematic diagram of a leafy vegetable cutting mechanism provided in a preferred embodiment of the present invention;

[0046] Figure 12 This is a schematic diagram of a horizontal telescopic mechanism provided in a preferred embodiment of the present invention;

[0047] Figure 13 This is a schematic diagram of the middle cutting mechanism structure provided in a preferred embodiment of the present invention;

[0048] In the attached figures, the following labels are used:

[0049] 1: Rack

[0050] 2: Flexible soil loosening mechanism

[0051] 21: Pneumatic Explosion Soil Loosening Casing

[0052] 211: Air Inlet

[0053] 212: Airflow speed control switch

[0054] 213: Air outlet

[0055] 22: Air pump

[0056] 23: Gas pipeline

[0057] 3: Positioning and clamping mechanism

[0058] 31: Positioning and clamping telescopic electric cylinder

[0059] 32: Grain-dividing clamping mechanism

[0060] 321: Flexible clamping frame

[0061] 322: Electric Cylinder for Grain Distribution

[0062] 323: Harvesting and clamping mounting bracket

[0063] 324: Harvesting and Clamping Support Frame

[0064] 4: Feeding and binding mechanism

[0065] 41: Collection and conveying mechanism

[0066] 42: Rejection Conveying Mechanism

[0067] 421: Camera

[0068] 422: Exclusion mechanism

[0069] 423: Conveying and feeding mechanism

[0070] 4231: Rejection board

[0071] 4232: Eliminate electric cylinders

[0072] 424: Conveyor Box

[0073] 43: Automatic strapping mechanism

[0074] 431: Strapping Bracket

[0075] 432: Bundling motor

[0076] 433: Strapping Wheel

[0077] 434: Bundling transmission mechanism

[0078] 435: Bundling Conveyor Roller

[0079] 5: Cutting and conveying mechanism

[0080] 51: Leafy Vegetable Cutting Mechanism

[0081] 511: Horizontal telescopic mechanism

[0082] 5111: Double telescopic electric cylinder

[0083] 5112: Telescopic slider

[0084] 512: Telescopic Cutting Stand

[0085] 513: Central cutting mechanism

[0086] 5131: Electric cylinder for center cutting.

[0087] 5132: Move the slider.

[0088] 5133: Scissor Unit

[0089] 52: Whole plant conveying mechanism

[0090] 53: Harvest Box

[0091] 6: Control device Detailed Implementation

[0092] To clearly explain the technical features of this invention, enabling those skilled in the art to clearly understand its structure, characteristics, usage, and technical effects, the following detailed embodiments, in conjunction with the accompanying drawings, illustrate the solution of this invention. However, the following descriptions are merely illustrative and are not intended to limit the scope of this invention.

[0093] Please refer to Figure 1 . Figure 1 This is a schematic diagram of the overall structure of the whole leafy vegetable harvesting device provided in a preferred embodiment of the present invention.

[0094] This invention provides a whole-plant harvesting device for leafy vegetables, comprising a frame 1, a flexible soil-loosening mechanism 2, a positioning and clamping mechanism 3, a feeding and binding mechanism 4, a cutting and conveying mechanism 5, and a control device 6. The flexible soil-loosening mechanism 2 is located at the front end of the frame 1; the positioning and clamping mechanism 3 is located at the front of the frame 1 and behind the flexible soil-loosening mechanism 2; the feeding and binding mechanism 4 is located in the middle of the frame 1 and behind the positioning and clamping mechanism 3; the cutting and conveying mechanism 5 is located at the rear of the frame 1 and behind the feeding and binding mechanism 4; the control device 6 is mounted on the frame, connected to the flexible soil-loosening mechanism 2, the positioning and clamping mechanism 3, the feeding and binding mechanism 4, and the cutting and conveying mechanism 5, and controls them.

[0095] The flexible soil-loosening mechanism 2 is used to disturb the soil around the roots of the leafy vegetables, thus breaking the soil and making it easier to pull the leafy vegetables up by the roots. The positioning and clamping mechanism 3 is used to pull up the disturbed leafy vegetables by the roots and clamp them, thus achieving the process of compliant pulling and separate clamping of the leafy vegetables. The feeding and binding mechanism 4 is used to feed the pulled leafy vegetables and remove damaged leafy vegetables, and automatically bind them in a quantitative manner. The cutting and conveying mechanism 5 is used to cut the bound leafy vegetables and convey them to the harvest box 53 of the cutting and conveying mechanism 5 to complete the harvesting process. The control device is connected to the air pump 22 of the flexible soil-loosening mechanism 2, the camera 421 of the feeding and binding mechanism 4, the electric cylinders of the positioning and clamping mechanism 3, the feeding and binding mechanism 4 and the cutting and conveying mechanism 5, and the binding motor 432 of the feeding and binding mechanism 4, and adjusts the working speed of the air pump, electric cylinders and motor in real time.

[0096] The whole-plant harvesting device for leafy vegetables may also include multiple rotating wheels and a drive unit. The multiple rotating wheels are located below the frame 1, and the drive unit is located on the frame 1 and connected to the multiple rotating wheels. The control device 6 is connected to the drive unit to control the movement of the frame 1. By setting the rotating wheels and drive unit on the frame 1, the control device 6 can control the frame 1 to move in the field, thereby enabling large-scale continuous harvesting of leafy vegetables.

[0097] Please refer to Figures 2 to 3 . Figure 2 This is a schematic diagram of a flexible soil loosening mechanism provided in a preferred embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the air-explosion soil loosening cylinder provided in a preferred embodiment of the present invention.

[0098] The flexible soil loosening mechanism 2 includes multiple air-explosion loosening cylinders 21, an air pump 22, and multiple air supply pipes 23. The air-explosion loosening cylinders 21, the air pump 22, and the air supply pipes 23 are connected to the frame. The air-explosion loosening cylinders 21 are evenly arranged in a linear array at the front end of the frame 1. One end of the air supply pipe 23 is connected to the air pump, and the other end is connected to the air-explosion loosening cylinder 21.

[0099] The air-explosion soil loosening cylinder 21 includes an air inlet 211, an airflow speed control switch 212, and multiple air outlets 213. The air inlet 211 is located at one end of the air-explosion soil loosening cylinder 21 and is connected to the air supply pipe 23. The air outlets 213 are evenly distributed at the other end of the air-explosion soil loosening cylinder 21 and arranged in a circular array. The airflow speed control switch 212 is disposed between the air inlet 211 and the air outlets 213.

[0100] The air pump 22 provides airflow power, and the air delivery pipe 23 changes the airflow direction and delivers the airflow to the air-blasting soil loosening cylinder 21. The air-blasting soil loosening cylinder 21 disturbs the soil around the leafy vegetable roots by inserting the air outlet 213 into the soil and blowing air, so that the leafy vegetable roots are separated from the soil, realizing the soil breaking process, making it easier to pull the leafy vegetables up by the roots. The depth of the air outlet 213 inserted into the soil is determined by the root depth of the leafy vegetables and the airflow speed. The airflow speed control switch 212 can adjust the switch size according to the soil properties to change the airflow speed of the air outlet 213.

[0101] Please refer to Figures 4 to 5 . Figure 4 This is a schematic diagram of a positioning and clamping mechanism provided in a preferred embodiment of the present invention; Figure 5 This is a schematic diagram of the grain-separating and clamping mechanism provided in a preferred embodiment of the present invention.

[0102] The positioning and clamping mechanism 3 includes at least two positioning and clamping telescopic electric cylinders 31 and a rice-dividing clamping mechanism 32. The fixed end of the positioning and clamping telescopic electric cylinder 31 is connected to the frame 1, and the movable end is connected to the rice-dividing clamping mechanism 32 to control the rice-dividing clamping mechanism 32 to move up and down.

[0103] The positioning clamping mechanism 3 also includes a forward and backward moving mechanism, which is disposed between the positioning clamping upper and lower telescopic electric cylinder 31 and the frame 1, or between the positioning clamping upper and lower telescopic electric cylinder 31 and the separating clamping mechanism 32. The forward and backward moving mechanism can control the positioning clamping mechanism 3 to move or retract in the direction of the feeding and binding mechanism 4.

[0104] The rice division clamping mechanism 32 includes two flexible clamping frames 321, multiple rice division clamping electric cylinders 322, a rice division clamping mounting frame 323, and two rice division clamping support frames 324. The rice division clamping mounting frame 323 is connected to the moving end of the positioning clamping telescopic electric cylinder 31. The rice division clamping electric cylinder 322, the rice division clamping support frame 324, and the flexible clamping frame 321 are symmetrically distributed on both sides of the rice division clamping mounting frame 323. The fixed end of the rice division clamping electric cylinder 322 is connected to the rice division clamping mounting frame 323, and the moving end is connected to one end of the rice division clamping support frame 324 to control the opening and closing of the rice division clamping support frame 324. The flexible clamping frame 321 is connected to the other end of the rice division clamping support frame 324.

[0105] The leaf-separating clamping mechanism 32 moves up and down via the positioning and clamping telescopic electric cylinder 31, thus achieving a smooth leaf-picking process. The leaf-separating clamping mechanism 32, through the opening and closing of the leaf-separating clamping support frames 324 on both sides, drives the flexible clamping frame 321 at its end to complete the orderly separation and clamping of the leaf-separating mechanism. The leaf-separating clamping support frame 324 supports the flexible clamping frame 321, facilitating the clamping of the leaf-separating mechanism. The inner surface of the flexible clamping frame 321 is made of flexible material to prevent damage to the leaf-separating mechanism during clamping. The forward and backward movement mechanism controls the movement of the leaf-separating clamping mechanism 32 towards the feeding and binding mechanism 4 after clamping the leaf-separating mechanism, so that the leaf-separating mechanism is placed on the feeding and binding mechanism 4. After placing the leaf-separating mechanism, the forward and backward movement mechanism can also control the leaf-separating clamping mechanism 32 to return to its original position.

[0106] Please refer to Figures 6 to 9 . Figure 6 This is a schematic diagram of the feeding and binding mechanism provided in a preferred embodiment of the present invention; Figure 7 This is a schematic diagram of the rejection conveying mechanism provided in a preferred embodiment of the present invention; Figure 8 This is a schematic diagram of the rejection mechanism structure provided in a preferred embodiment of the present invention; Figure 9 This is a schematic diagram of an automatic strapping mechanism provided in a preferred embodiment of the present invention.

[0107] The feeding and bundling mechanism 4 includes a collection and conveying mechanism 41, a rejection and conveying mechanism 42 and an automatic bundling mechanism 43. The collection and conveying mechanism 41 is connected to the frame 1 and its front end is adjacent to the positioning and clamping mechanism 3. The collection and conveying mechanism 41, the rejection and conveying mechanism 42 and the automatic bundling mechanism 43 are connected in sequence to form a transmission path.

[0108] The rejection conveying mechanism 42 includes a camera 421, a rejection mechanism 422, a conveying and feeding mechanism 423, and a conveying box 424. The conveying and feeding mechanism 423 is connected to the frame 1 and its front end is adjacent to the end of the collection conveying mechanism 41. The camera 421 is disposed above the frame 1 and corresponds to the conveying and feeding mechanism 423. The rejection mechanism 422 includes a rejection plate 4231 and a rejection electric cylinder 4232. The fixed end of the rejection electric cylinder 4232 is connected to the frame 1 on the side of the conveying and feeding mechanism 423. The rejection plate 4231 is connected to the moving end of the rejection electric cylinder 4232 and can move on the conveying and feeding mechanism 423 along a direction perpendicular to the conveying path. The conveying box 424 is disposed on the frame 1 on the other side of the conveying and feeding mechanism 423 and corresponds to the rejection mechanism 422.

[0109] The automatic strapping mechanism 43 includes a strapping bracket 431, a strapping motor 432, a strapping wheel 433, a strapping transmission mechanism 434, and multiple strapping conveying rollers 435. The strapping bracket 431 is connected to the frame 1 and its front end is adjacent to the end of the rejection conveying mechanism 42. The strapping bracket 431 includes two parallel frames arranged along the transmission path. The multiple strapping conveying rollers 435 are arranged side by side between the two parallel frames and perpendicular to the two parallel frames. The strapping transmission mechanism 434 is connected to the strapping bracket 431. The strapping wheel 433 is arranged on the strapping transmission mechanism 434 and is driven by it to perform circular motion. The strapping motor 432 is arranged below the strapping bracket 431 and connected to the strapping transmission mechanism 434 to provide power to it.

[0110] The collection and conveying mechanism 41 is used to collect the harvested leafy vegetables and convey them to the rejection and conveying mechanism 42; the rejection and conveying mechanism 42 is used to screen and remove damaged leafy vegetables and feed the screened high-quality leafy vegetables to the automatic bundling mechanism 43; the automatic bundling mechanism 43 is used to automatically and quantitatively bundle the leafy vegetables.

[0111] In the rejection conveying mechanism 42, the camera 421 is used to identify damaged leafy vegetables, the rejection mechanism 422 is used to remove damaged leafy vegetables, the conveying and feeding mechanism 423 is used to convey and feed high-quality leafy vegetables to the automatic bundling mechanism 43, and the conveying box 424 is used to collect damaged leafy vegetables. Specifically, the leafy vegetables travel on the conveying and feeding mechanism 423. When the camera 421 identifies damaged leafy vegetables, the rejection electric cylinder 4232 pushes the rejection plate 4231 to move, pushing the damaged leafy vegetables into the conveying box 424, while the high-quality leafy vegetables that have not been rejected continue to the automatic bundling mechanism 43.

[0112] In the automatic bundling mechanism 43, the bundling conveying roller 435 is used to convey the fed leafy vegetables to the bundling wheel 433. The bundling wheel 433 automatically bundles the leafy vegetables under the drive of the bundling transmission mechanism 434. After bundling and cutting the roots, the bundling conveying roller 435 continues to convey the leafy vegetables to the whole plant conveying mechanism 52.

[0113] Please refer to Figures 10 to 13 . Figure 10 This is a schematic diagram of a cutting and conveying mechanism provided in a preferred embodiment of the present invention; Figure 11 This is a schematic diagram of a leafy vegetable cutting mechanism provided in a preferred embodiment of the present invention;

[0114] Figure 12 This is a schematic diagram of a horizontal telescopic mechanism provided in a preferred embodiment of the present invention; Figure 13 This is a schematic diagram of the middle cutting mechanism provided in a preferred embodiment of the present invention.

[0115] The cutting and conveying mechanism 5 includes a leaf vegetable cutting mechanism 51, a whole plant conveying mechanism 52, and a harvesting box 53. The leaf vegetable cutting mechanism 51 is connected to the frame 1 on one side of the rear end of the feeding and binding mechanism 4. The whole plant conveying mechanism 52 and the harvesting box 53 are sequentially connected and respectively connected to the frame 1. The front end of the whole plant conveying mechanism 52 is connected to the rear end of the feeding and binding mechanism 4.

[0116] The leafy vegetable cutting mechanism 51 includes a horizontal telescopic mechanism 511, a telescopic cutting bracket 512, and a central cutting mechanism 513. The telescopic cutting bracket 512 is connected to the frame 1, and the central cutting mechanism 513 is connected to the telescopic cutting bracket 512 with its front end corresponding to the rear end of the feeding and binding mechanism 4. The horizontal telescopic mechanism 511 is connected to the telescopic cutting bracket 512 and the central cutting mechanism 513 to control the telescopic distance of the central cutting mechanism 513.

[0117] The horizontal telescopic mechanism 511 includes a double telescopic electric cylinder 5111 and a telescopic slider 5112. The double telescopic electric cylinder 5111 is connected to the telescopic cutting bracket 512, and the telescopic slider 5112 is connected to the front end of the double telescopic electric cylinder 5111 and to the front end of the middle cutting mechanism 513.

[0118] The central cutting mechanism 513 includes a central cutting electric cylinder 5131, a movable slider 5132, and a scissor unit 5133. The central cutting electric cylinder 5131 is connected to the telescopic cutting bracket 512. The movable end of the central cutting electric cylinder 5131, the movable slider 5132, and the scissor unit 5133 are connected in sequence.

[0119] The leafy vegetable cutting mechanism 51 is used to cut the bundled leafy vegetables, and the whole-plant conveying mechanism 52 is used to convey the cut leafy vegetables to the harvesting box 53, which is used to collect the cut leafy vegetables. The whole-plant conveying mechanism 52 and the harvesting box 53 are sequentially connected on the transmission path, that is, the collecting conveying mechanism 41, the rejecting conveying mechanism 42, the automatic bundling mechanism 43, the whole-plant conveying mechanism 52, and the harvesting box 53 are sequentially connected to form the transmission path.

[0120] In the horizontal telescopic mechanism 511, the moving end of the double telescopic electric cylinder 5111 is connected to the telescopic slider 5112, and the telescopic slider 5112 is simultaneously connected to the front end of the middle cutting mechanism 513. Thus, the moving distance of the middle cutting mechanism 513 can be controlled by the action of the double telescopic electric cylinder 5111.

[0121] In the central cutting mechanism 513, the moving end of the central cutting electric cylinder 5131, the moving slider 5132, and the scissor unit 5133 are sequentially connected, so that the closing action of the scissor unit 5133 is controlled by the central cutting electric cylinder 5131, and the closing of the scissor unit 5133 is realized by the moving slider 5132; the scissor unit 5133 of the central cutting mechanism 513 corresponds to the exit position after the binding wheel 433 binds the leafy vegetables, and the roots of the leafy vegetables are cut by the scissor unit 5133 after binding.

[0122] The present invention also provides a method for harvesting leafy vegetables whole, which uses the leafy vegetable whole-plant harvesting device described above, and the method for harvesting leafy vegetables whole includes:

[0123] Step 1) Determine the airflow speed and soil penetration depth of the flexible soil loosening mechanism 2 based on soil properties and the rooting depth of leafy vegetables; adjust the working parameters of the flexible soil loosening mechanism 2, the positioning clamping mechanism 3, the feeding and binding mechanism 4, and the cutting and conveying mechanism 5 through the control device 6.

[0124] Specifically, based on soil properties and the rooting depth of leafy vegetables, the airflow velocity and soil penetration depth of the air-blasting loosening cylinder 21 are determined. The control device 6 is used to check and adjust the working parameters of the flexible soil-loosening mechanism 2, the positioning and clamping mechanism 3, the feeding and binding mechanism 4, and the cutting and conveying mechanism 5, so that the motor operating speed reaches the preset value, the electric cylinder runs smoothly, and the camera works normally. The components checked and adjusted include the air pump 22 of the flexible soil-loosening mechanism 2, the positioning and clamping upper and lower telescopic electric cylinder 31 and the dividing clamping electric cylinder 322 of the positioning and clamping mechanism 3, the removal electric cylinder 4232, the binding motor 432, and the camera 421 of the feeding and binding mechanism 4, and the double telescopic electric cylinder 5111 and the middle cutting electric cylinder 5131 of the cutting and conveying mechanism 5.

[0125] Step 2) Start the whole leafy vegetable harvesting device. The flexible soil-loosening mechanism 2 agitates the soil around the roots of the leafy vegetables by outputting airflow, so that the roots of the leafy vegetables are separated from the soil.

[0126] Specifically, the air pump 22 delivers airflow to the air-exploding soil loosening cylinder 21 through the air supply pipe 23, so that the air-exploding soil loosening cylinder 21 penetrates into the soil, disturbs the soil around the leafy vegetable roots, and separates the leafy vegetable roots from the soil.

[0127] Step 3) The positioning and clamping mechanism clamps the leafy vegetables and pulls them out of the soil;

[0128] Specifically, under the action of the positioning and clamping telescopic electric cylinder 31, the dividing and clamping mechanism 32 moves downward to the surface of the leafy vegetable soil; the dividing and clamping support frame 324, close to the surface of the leafy vegetable soil, is driven by the dividing and clamping electric cylinder 322 to drive the flexible clamping frame 321 to achieve the closing process, completing the dividing and clamping of the leafy vegetable; after clamping the leafy vegetable, the dividing and clamping support frame 324 moves upward under the action of the positioning and clamping telescopic electric cylinder 31, and the resultant force of the pull is greater than the separation force between the leafy vegetable roots and the soil and less than the force of the soil. When the leafy vegetable is under stress, the leafy vegetable is gently pulled out. If the pulling force is greater than the damage force of the leafy vegetable, the airflow speed of the flexible soil loosening mechanism 2 is adjusted to make it stronger in breaking the soil and reduce the separation force between the leafy vegetable roots and the soil. After the leafy vegetable is pulled out, the dividing clamping mechanism 32 clamps the leafy vegetable and moves it to the feeding and binding mechanism 4 under the action of the front and back moving mechanism. Then, under the action of the dividing clamping electric cylinder 322, the flexible clamping frame 321 is driven to open and place the leafy vegetable on the feeding and binding mechanism 4.

[0129] Step 4) The positioning and clamping mechanism 3 places the harvested leafy vegetables into the feeding and binding mechanism 4. The feeding and binding mechanism 4 identifies and removes bad leafy vegetables, while binding the good quality leafy vegetables after screening.

[0130] Specifically, the positioning clamping mechanism 3 clamps the leafy greens and moves them to the collection and conveying mechanism 41, where the leafy greens are placed. The collection and conveying mechanism 41 then transports the leafy greens to the rejection conveying mechanism 42. The camera 421 identifies the leafy greens being transported on the conveying and feeding mechanism 423. When the camera 421 identifies damaged leafy greens, the conveying and feeding mechanism 423 stops moving, and the rejection mechanism 422 pushes the damaged leafy greens into the conveying box 424. Afterward, the conveying and feeding mechanism 423 continues to move, transporting and feeding the identified and selected high-quality leafy greens to the automatic bundling mechanism 43. Under the action of the bundling conveying roller 435, the leafy greens move to the bundling wheel 433. At the same time, under the action of the bundling transmission mechanism 434, the bundling wheel 433 rotates around the leafy greens in a circular motion, wrapping them with tape, thus completing the automatic bundling process.

[0131] Step 5) The cutting and conveying mechanism 5 cuts the roots of the bundled leafy vegetables and collects the bundled and root-cut leafy vegetables to complete the harvesting process;

[0132] Specifically, the bundled leafy vegetables are transported to the leafy vegetable cutting mechanism 51, and the horizontal telescopic mechanism 511 is driven to move the central cutting mechanism 513 inward a certain distance. When it stops at the root of the leafy vegetables, the central cutting mechanism 513 is driven to control the scissor unit 5133 to close, completing the leafy vegetable root cutting process. Then, the horizontal telescopic mechanism 511 is driven to move the central cutting mechanism 513 back to its original position. The bundled and root-cut leafy vegetables continue to be transported to the whole plant conveying mechanism 52, and then to the harvesting box 53, completing the orderly harvesting process of the whole leafy vegetables.

[0133] Compared with the prior art, the whole-plant harvesting device and harvesting method for leafy vegetables of the present invention have the following significant technical effects:

[0134] This invention relates to a device and method for the orderly harvesting of leafy vegetables through flexible soil disturbance, positioning and clamping, feeding and bundling, cutting and conveying. It integrates the processes of flexible soil disturbance, positioning and clamping, bundling, feeding, cutting and conveying of leafy vegetables, and can automatically clamp, bundle, cut and convey leafy vegetables, achieving orderly harvesting of whole leafy vegetables. This greatly improves the harvesting efficiency of leafy vegetables, effectively reduces the damage rate, ensures the quality of harvested leafy vegetables, solves the problems of high labor intensity and high operating costs, and effectively improves the harvesting performance and automation level of leafy vegetables.

[0135] The system adjusts airflow speed and soil penetration depth based on soil properties and the root depth of leafy vegetables to ensure easy separation of vegetable roots from the soil, effectively reducing damage rate. The separating and clamping mechanism, driven by an electric cylinder, performs up-and-down and opening / closing movements, enabling the smooth extraction and separating of leafy vegetables, resulting in orderly harvesting of the entire plant. The removal and conveying mechanism removes damaged leafy vegetables after harvest, further ensuring the quality and efficiency of the harvest. The automatic bundling and cutting mechanisms work together to automatically bundle and cut the roots of the leafy vegetables, further improving harvesting efficiency.

[0136] In summary, the device and method of the present invention achieve efficient and low-loss harvesting of leafy vegetables from the technical source, which is of great practical significance for accelerating the mechanization of leafy vegetable harvesting and promoting the high-quality and efficient development of the vegetable industry.

[0137] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the claims of the present invention.

Claims

1. A device for harvesting whole leafy vegetables, characterized in that, include: One rack; A flexible soil loosening mechanism is installed at the front end of the frame. The flexible soil loosening mechanism includes multiple air-explosion loosening cylinders. The air-explosion loosening cylinders are installed at the front end of the frame and can adjust the airflow speed. A positioning and clamping mechanism is provided at the front of the frame and behind the flexible soil loosening mechanism. The positioning and clamping mechanism includes at least two positioning and clamping telescopic electric cylinders and a soil separating clamping mechanism. One end of the positioning and clamping telescopic electric cylinders is connected to the frame, and the soil separating clamping mechanism is connected to the other end of the positioning and clamping telescopic electric cylinders and is located behind the plurality of air-explosion soil loosening cylinders. A feeding and binding mechanism is located in the middle of the frame and behind the positioning and clamping mechanism; A cutting and conveying mechanism is located at the rear of the frame and behind the feeding and binding mechanism; and A control device is mounted on the frame and connected to and controls the flexible soil loosening mechanism, the positioning clamping mechanism, the feeding and binding mechanism, and the cutting and conveying mechanism. The control device controls the soil breaking ability of the flexible soil loosening mechanism by adjusting the airflow speed of the multiple air-explosive soil loosening cylinders, so that the combined force of the separating clamping mechanism to pull up the leafy vegetables is greater than the separation force between the leafy vegetable roots and the soil and less than the damage force to the leafy vegetables.

2. The whole-plant harvesting device for leafy vegetables according to claim 1, characterized in that, The flexible soil loosening mechanism also includes an air pump and multiple air supply pipes. The air pump and the air supply pipes are connected to the frame. The air-explosion soil loosening cylinders are evenly arranged in a linear array at the front end of the frame. One end of the air supply pipe is connected to the air pump, and the other end is connected to the air-explosion soil loosening cylinder.

3. The whole-plant harvesting device for leafy vegetables according to claim 2, characterized in that, The air-explosion soil loosening cylinder includes an air inlet, an airflow speed control switch, and multiple air outlets. The air inlet is located at one end of the air-explosion soil loosening cylinder and is connected to the air supply pipeline. The air outlets are evenly distributed at the other end of the air-explosion soil loosening cylinder and arranged in a circular array. The airflow speed control switch is located between the air inlet and the air outlets.

4. The whole-plant harvesting device for leafy vegetables according to claim 1, characterized in that, The fixed end of the positioning clamping telescopic electric cylinder is connected to the frame, and the moving end is connected to the dividing clamping mechanism to control the vertical movement of the dividing clamping mechanism.

5. The whole-plant harvesting device for leafy vegetables according to claim 4, characterized in that, The positioning and clamping mechanism also includes a forward and backward moving mechanism, which is disposed between the positioning and clamping upper and lower telescopic electric cylinder and the frame, or between the positioning and clamping upper and lower telescopic electric cylinder and the separating clamping mechanism. The forward and backward moving mechanism can control the positioning and clamping mechanism to move or retract in the direction of the feeding and binding mechanism.

6. The whole-plant harvesting device for leafy vegetables according to claim 4, characterized in that, The rice separating clamping mechanism includes two flexible clamping frames, multiple rice separating clamping electric cylinders, one rice separating clamping mounting frame, and two rice separating clamping support frames. The rice separating clamping mounting frame is connected to the moving end of the positioning clamping telescopic electric cylinder. The rice separating clamping electric cylinder, the rice separating clamping support frame, and the flexible clamping frame are symmetrically distributed on both sides of the rice separating clamping mounting frame. The fixed end of the rice separating clamping electric cylinder is connected to the rice separating clamping mounting frame, and the moving end is connected to one end of the rice separating clamping support frame to control the opening and closing of the rice separating clamping support frame. The flexible clamping frame is connected to the other end of the rice separating clamping support frame.

7. The whole-plant harvesting device for leafy vegetables according to claim 1, characterized in that, The feeding and bundling mechanism includes a collection and conveying mechanism, a rejection and conveying mechanism and an automatic bundling mechanism. The collection and conveying mechanism is connected to the frame and its front end is adjacent to the positioning and clamping mechanism. The collection and conveying mechanism, the rejection and conveying mechanism and the automatic bundling mechanism are sequentially connected and form a transmission path.

8. The whole-plant harvesting device for leafy vegetables according to claim 7, characterized in that, The rejection conveying mechanism includes a camera, a rejection mechanism, a conveying and feeding mechanism, and a conveying box. The conveying and feeding mechanism is connected to the frame and its front end is adjacent to the end of the collection and conveying mechanism. The camera is located above the frame and corresponds to the conveying and feeding mechanism. The rejection mechanism includes a rejection plate and a rejection electric cylinder. The fixed end of the rejection electric cylinder is connected to the frame on the side of the conveying and feeding mechanism. The rejection plate is connected to the moving end of the rejection electric cylinder and can move on the conveying and feeding mechanism along a direction perpendicular to the conveying path. The conveying box is located on the frame on the other side of the conveying and feeding mechanism and corresponds to the rejection mechanism.

9. The whole-plant harvesting device for leafy vegetables according to claim 7, characterized in that, The automatic strapping mechanism includes a strapping bracket, a strapping motor, a strapping wheel, a strapping transmission mechanism, and multiple strapping conveying rollers. The strapping bracket is connected to the frame and its front end is adjacent to the end of the rejection conveying mechanism. The strapping bracket includes two parallel frame bodies arranged along the transmission path. The multiple strapping conveying rollers are arranged side by side between the two parallel frame bodies and perpendicular to the two parallel frame bodies. The strapping transmission mechanism is arranged on the strapping bracket. The strapping wheel is arranged on the strapping transmission mechanism and is driven by it to perform circular motion. The strapping motor is arranged below the strapping bracket and connected to the strapping transmission mechanism to provide power to it.

10. The whole-plant harvesting device for leafy vegetables according to claim 1, characterized in that, The cutting and conveying mechanism includes a leaf vegetable cutting mechanism, a whole plant conveying mechanism, and a harvesting box. The leaf vegetable cutting mechanism is connected to the frame on one side of the rear end of the feeding and binding mechanism. The whole plant conveying mechanism and the harvesting box are sequentially connected and respectively connected to the frame. The front end of the whole plant conveying mechanism is connected to the rear end of the feeding and binding mechanism.

11. The whole-plant harvesting device for leafy vegetables according to claim 10, characterized in that, The leafy vegetable cutting mechanism includes a horizontal telescopic mechanism, a telescopic cutting bracket, and a central cutting mechanism. The telescopic cutting bracket is connected to the frame, and the central cutting mechanism is connected to the telescopic cutting bracket with its front end corresponding to the rear end of the feeding and binding mechanism. The horizontal telescopic mechanism is connected to the telescopic cutting bracket and the central cutting mechanism to control the telescopic distance of the central cutting mechanism.

12. The whole-plant harvesting device for leafy vegetables according to claim 11, characterized in that, The horizontal telescopic mechanism includes a double telescopic electric cylinder and a telescopic slider. The double telescopic electric cylinder is connected to the telescopic cutting bracket, and the telescopic slider is connected to the front end of the double telescopic electric cylinder and to the front end of the middle cutting mechanism.

13. The whole-plant harvesting device for leafy vegetables according to claim 11, characterized in that, The central cutting mechanism includes a central cutting electric cylinder, a movable slider, and a scissor unit. The central cutting electric cylinder is connected to the telescopic cutting bracket, and the movable end of the central cutting electric cylinder, the movable slider, and the scissor unit are connected in sequence.

14. The whole-plant harvesting device for leafy vegetables according to claim 1, characterized in that, It also includes multiple rotating wheels and a drive device. The multiple rotating wheels are located below the frame, the drive device is located on the frame and connected to the multiple rotating wheels, and the control device is connected to the drive device to control the movement of the frame through the drive device.

15. A method for harvesting leafy vegetables whole, comprising using the leafy vegetable whole-plant harvesting device as described in any one of claims 1-14, characterized in that, The whole plant of this leafy vegetable can be harvested using the following methods: Step 1) Determine the airflow speed and soil penetration depth of the flexible soil-loosening mechanism based on soil properties and the rooting depth of leafy vegetables; adjust the working parameters of the flexible soil-loosening mechanism, the positioning and clamping mechanism, the feeding and binding mechanism, and the cutting and conveying mechanism through the control device. Step 2) Start the whole leafy vegetable harvesting device. The flexible soil-loosening mechanism agitates the soil around the roots of the leafy vegetables by outputting airflow, causing the roots of the leafy vegetables to separate from the soil. Step 3) The positioning and clamping mechanism separates and clamps the leafy vegetables, and pulls them out of the soil; Step 4) The positioning and clamping mechanism places the harvested leafy greens into the feeding and binding mechanism. The feeding and binding mechanism identifies and removes bad leafy greens, while binding the selected high-quality leafy greens. Step 5) The cutting and conveying mechanism cuts the roots of the bundled leafy vegetables and collects the bundled and root-cut leafy vegetables to complete the harvesting process.

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