Adsorption type cowpea picking system and control method thereof

Abstract

The present application relates to long strip / vine vegetable picking device technical field, specifically to a kind of adsorption type cowpea picking system and control method thereof.The overall structure of the present application is compact, through adsorption type cowpea picker, flared collector, backpack type adsorption collection device and matched sensor and electric valve cooperation, can realize the rapid picking and automatic collection of cowpea, easy and fast, safe and labor-saving operation, can effectively improve the efficiency of manual picking long cowpea, reduce the labor intensity of farmers;Adsorption type cowpea picker and flared collector of the present application are connected with backpack type adsorption collection device through corresponding pipeline, through the interlocking control of negative pressure vacuum device, electric valve in backpack type adsorption collection device and proximity sensor on adsorption type cowpea picker, automatic adsorption during picking and automatic collection and storage after picking can be realized, improve the overall degree of automation and working efficiency of picking system.

Description

Technical Field

[0001] This invention relates to the field of harvesting equipment for long / vine-like vegetables, specifically to an adsorption-type cowpea harvesting system and its control method. Background Technology

[0002] Cowpeas, also known as long beans, are one of the main vegetables in my country during the summer and autumn seasons. my country is a secondary origin center for cowpeas, with a long history of cultivation and abundant varietal resources, possessing nearly a thousand germplasm resources. Significant progress has also been made in breeding. Due to the continuous promotion of superior new varieties and the widespread application of technologies such as seedling transplanting, mulching, and greenhouses, the quality and yield of cowpeas have greatly improved. In recent years, the processing industry for dehydrated, quick-frozen, and pickled cowpeas, as well as exports, have seen substantial growth. Cowpeas are rich in nutrients, high in protein, and rich in dietary fiber, carbohydrates, vitamins, and elements such as iron, phosphorus, and calcium. They are also highly adaptable, have a wide cultivation range, and enjoy high market demand. Although mechanized harvesting technology has made progress in the agricultural field, specialized harvesting machinery for cowpeas is still lacking.

[0003] Existing cowpea harvesting methods mainly rely on manual harvesting. Traditional manual harvesting is inefficient, labor-intensive, and prone to damaging the cowpea crop during the harvesting and collection process. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an adsorption-type cowpea harvesting system and its control method, which can effectively improve the efficiency of manual harvesting of long cowpeas, realize the automatic collection of cowpeas after harvesting, reduce labor intensity, and avoid damaging the cowpea crop.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] I. An Adsorption-Type Cowpea Harvesting System

[0007] This invention provides an adsorption-type cowpea harvesting system, including an adsorption-type cowpea harvester, a flared collector 21, and a backpack-type adsorption collection device 16. The backpack-type adsorption collection device 16 has an upper negative pressure chamber 20 and a lower storage chamber 19. The upper negative pressure chamber 20 is equipped with a negative pressure vacuum device. The side walls of the upper negative pressure chamber 20 and the lower storage chamber 19 are respectively provided with an adsorption port 17 and a collection port 28. The inner sides of the adsorption port 17 and the collection port 28 are respectively provided with an electric valve 26 and an electric valve 27. The adsorption port 17 is connected to the adsorption-type cowpea harvester through a connecting hose 23, and the collection port 28 is connected to the flared collector 21 through a connecting hose 24.

[0008] The adsorption-type cowpea harvester includes a handle 1, a rotating connecting rod 2, and an adsorption harvesting head structure. The top of the handle 1 is connected to the rotating connecting rod 2 via a rotating drive device. The upper part of the rotating connecting rod 2 is provided with an adsorption harvesting head structure, and a proximity sensor 25 is installed on the adsorption harvesting head structure.

[0009] The electric valve 26, electric valve 27, rotary drive device, and proximity sensor 25 are all electrically connected to the harvesting system controller.

[0010] Furthermore, the adsorption harvesting head structure includes an adsorption head base plate 4, a curved toothed pad 5, and an adsorption head baffle 6. The adsorption head base plate 4 is mounted on the upper part of the rotating connecting rod 2 via a mounting base 11. The outer surface of the adsorption head base plate 4 is provided with a curved toothed pad 5, and the outer surface of the curved toothed pad 5 is provided with multiple curved teeth 7.

[0011] The curved teeth 7 are set at an inclined angle, and the inclined direction is consistent with the rotation direction of the rotating connecting rod 2 when it is working. The head of each curved tooth 7 is provided with a spherical protrusion 10 that is adapted to the size of the beans to be harvested.

[0012] Furthermore, the upper and lower parts of the inner surface of the adsorption head baffle 6 are respectively provided with guide posts 12 and push rods 13. The guide posts 12 pass through the guide holes opened on the upper part of the adsorption head bottom plate 4, and the inner end of the guide posts 12 is provided with a limiting platform.

[0013] The push rod 13 passes inward through the lower part of the adsorption head base plate 4 and is connected to one end of the lever mechanism 8 through the spring pull mechanism 14. The other end of the lever mechanism 8 is connected to the push button 3 located in the middle of the rotating connecting rod 2.

[0014] Furthermore, the adsorption head baffle 6 is provided with a plurality of through holes 15 that are adapted to the size of the curved teeth 7, and the curved teeth 7 all pass outward through the corresponding through holes 15.

[0015] The adsorption head baffle 6 has an adsorption hole 9 in the middle. The adsorption hole 9 is connected to one end of the adsorption tube 18. The other end of the adsorption tube 18 passes through the mounting base 11 and is connected to the adsorption cavity inside the rotating connecting rod 2.

[0016] Furthermore, the adsorption chamber inside the rotating connecting rod 2 is connected to the adsorption port 17 of the backpack-type adsorption collection device 16 via a connecting hose 23.

[0017] Furthermore, the flared collector 21 is fixedly connected to the side of the handle 1 by a fixing bracket 22, and the top flared opening of the flared collector 21 is located directly below the adsorption and picking head structure.

[0018] Furthermore, the bottom outlet of the flared collector 21 is connected to the collection port 28 of the backpack-type adsorption collection device 16 via a connecting hose 24.

[0019] Furthermore, the inner side of the adsorption head baffle 6 is provided with a proximity sensor 25 for detecting whether the adsorption head baffle 6 is pushed forward.

[0020] Furthermore, the outer wall of the rotating connecting rod 2 has an installation groove on the side facing the adsorption and picking head structure, and the lever mechanism 8 is hinged in the installation groove.

[0021] II. A control method for an adsorption-type cowpea harvesting system

[0022] Based on the same inventive concept, the present invention also provides a control method for the adsorption-type cowpea harvesting system described above, which mainly includes the following steps:

[0023] S1, Adsorption-type pickup: Open the negative pressure vacuum device inside the backpack-type adsorption collection device 16, and at the same time open the electric valve 1 26 and close the electric valve 27, so that the adsorption hole 9 in the middle of the adsorption head baffle 6 generates suction, and the beans are adsorbed onto the harvester by negative pressure.

[0024] S2, Curved teeth fixing: The curved teeth 7 extending from the outside of the suction head baffle 6 grasp the cowpea along the inclined direction of the curved teeth, so that the cowpea is separated from the leaves and the cowpea after the leaves are separated is fixed.

[0025] S3, Rotary Harvesting: After the cowpeas are adsorbed and fixed, the rotary drive device is activated by the harvesting system controller, so that the rotary connecting rod 2 drives the adsorption harvesting head structure to rotate relative to the handle 1, thereby causing the cowpeas to break at the bean stem.

[0026] S4, lever-type destemming: After the cowpeas are harvested, the rotary drive device drives the rotary connecting rod 2 to reset, and at the same time, the electric valve 26 is closed and the push button 3 is manually pressed. Through the lever mechanism 8 and the push rod 13, the suction head baffle 6 slides outward relative to the suction head bottom plate 4, thereby pushing the harvested cowpeas to separate smoothly from the curved teeth 7 and fall into the flared collector 21.

[0027] S5, Automatic Triggered Collection: When the suction head baffle 6 slides outward relative to the suction head bottom plate 4, it triggers the proximity sensor 25. According to the trigger signal from the proximity sensor 25, the harvesting system controller closes the electric valve 1 26 and opens the electric valve 27, so that the bottom outlet of the flared collector 21 generates suction, and then sucks the cowpeas that fall into the flared collector 21 into the lower storage chamber 19 of the backpack-type suction collection device 16 through the connecting hose 24 for storage.

[0028] Compared with the prior art, the present invention has the following main advantages:

[0029] 1. This invention provides an adsorption-type cowpea harvesting system with a compact overall structure. Through the combination of an adsorption-type cowpea harvester, a flared collector, a backpack-type adsorption collection device, and matching sensors and electric valves, it can achieve rapid harvesting and automatic collection of cowpeas. The system is convenient, fast, safe, and labor-saving, and can effectively improve the efficiency of manual harvesting of long cowpeas and reduce the labor intensity of farmers.

[0030] 2. This invention employs an inclined curved tooth structure, with the inclination direction of the curved teeth aligned with the rotational picking direction of the adsorption-type cowpea harvester. This allows the teeth to closely adhere to the cowpeas during the picking process, improving the cowpea gripping efficiency. Simultaneously, the curved teeth can separate the cowpeas from the leaves, preventing the leaves from being sucked into the harvester. Furthermore, the head of the curved tooth structure has a spherical protrusion adapted to the size of the cowpeas. Combined with the suction force of the adsorption holes, this ensures a more secure grip on the cowpeas during the picking process, preventing them from falling off. This effectively reduces the waste of time and manpower resources, further improving picking efficiency.

[0031] 3. The adsorption harvesting head structure of the present invention consists of an adsorption head base plate, curved teeth, and an adsorption head baffle forming a comb structure. After the cowpeas are harvested, the comb pushes forward, allowing the cowpeas fixed on the curved teeth to be smoothly pushed into the flared collector, thus completing the collection of harvested cowpeas without damaging them, ensuring the yield and quality of cowpeas.

[0032] 4. The adsorption-type cowpea harvester and the flared collector of the present invention are both connected to the backpack-type adsorption collection device through corresponding pipelines. The negative pressure vacuum device, electric valve and proximity sensor on the adsorption-type cowpea harvester in the backpack-type adsorption collection device are interlocked and controlled to realize automatic adsorption during cowpea harvesting and automatic collection and storage after harvesting, thereby improving the overall automation level and work efficiency of the harvesting system.

[0033] In summary, the intelligent adsorption cowpea harvesting system of the present invention, through a series of innovative designs, not only significantly improves the harvesting efficiency and quality of cowpeas, but also effectively protects the crop and reduces the labor intensity of farmers, which is of great significance for promoting agricultural modernization and sustainable development. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of the adsorption-type cowpea harvesting system in an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of an adsorption-type cowpea harvester in an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the backpack-type adsorption and collection device in an embodiment of the present invention;

[0037] Figure 4This is a side view of the adsorption-type cowpea harvester in an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the lever mechanism in an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the adsorption head baffle in an embodiment of the present invention;

[0040] Figure 7 This is a flowchart of the control method in an embodiment of the present invention.

[0041] In the diagram: 1. Handle; 2. Rotary connecting rod; 3. Push button; 4. Adsorption head base plate; 5. Curved toothed gasket; 6. Adsorption head baffle; 7. Curved tooth; 8. Lever mechanism; 9. Adsorption hole; 10. Spherical protrusion; 11. Mounting base; 12. Guide post; 13. Push rod; 14. Spring pull-back mechanism; 15. Through hole; 16. Backpack-type adsorption collection device; 17. Adsorption port; 18. Adsorption tube; 19. Lower storage chamber; 20. Upper negative pressure chamber; 21. Flared collector; 22. Fixed bracket; 23. Connecting hose one; 24. Connecting hose two; 25. Proximity sensor; 26. Electric valve one; 27. Electric valve two; 28. Collection port. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0043] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0044] Example 1: This example provides an adsorption-type cowpea harvesting system, such as... Figures 1-6 As shown, it mainly includes: an adsorption-type cowpea harvester, a flared collector 21, and a backpack-type adsorption collection device 16;

[0045] The backpack-type adsorption and collection device 16 is provided with an upper negative pressure chamber 20 and a lower storage chamber 19. The upper negative pressure chamber 20 is provided with a negative pressure vacuum device. The side walls of the upper negative pressure chamber 20 and the lower storage chamber 19 are respectively provided with an adsorption port 17 and a collection port 28. The inner sides of the adsorption port 17 and the collection port 28 are respectively provided with an electric valve 26 and an electric valve 27. The adsorption port 17 is connected to the adsorption-type cowpea harvester through a connecting hose 23, and the collection port 28 is connected to the flared collector 21 through a connecting hose 24.

[0046] The adsorption-type cowpea harvester includes a handle 1, a rotating connecting rod 2, and an adsorption harvesting head structure. The top of the handle 1 is connected to the rotating connecting rod 2 via a rotating drive device. The upper part of the rotating connecting rod 2 is provided with an adsorption harvesting head structure, and a proximity sensor 25 is installed on the adsorption harvesting head structure.

[0047] The electric valve 26, electric valve 27, rotary drive device, and proximity sensor 25 are all electrically connected to the harvesting system controller.

[0048] Furthermore, the adsorption harvesting head structure includes an adsorption head base plate 4, a curved toothed pad 5, and an adsorption head baffle 6. The adsorption head base plate 4 is mounted on the upper part of the rotating connecting rod 2 via a mounting base 11. The outer surface of the adsorption head base plate 4 is provided with a curved toothed pad 5, and the outer surface of the curved toothed pad 5 is provided with multiple curved teeth 7.

[0049] The curved teeth 7 are set at an inclined angle, and the inclined direction is consistent with the rotation direction of the rotating connecting rod 2 when it is working. The head of each curved tooth 7 is provided with a spherical protrusion 10 that is adapted to the size of the beans to be harvested.

[0050] Furthermore, the upper and lower parts of the inner surface of the adsorption head baffle 6 are respectively provided with guide posts 12 and push rods 13. The guide posts 12 pass through the guide holes opened on the upper part of the adsorption head bottom plate 4, and the inner end of the guide posts 12 is provided with a limiting platform.

[0051] The push rod 13 passes inward through the lower part of the adsorption head base plate 4 and is connected to one end of the lever mechanism 8 through the spring pull mechanism 14. The other end of the lever mechanism 8 is connected to the push button 3 located in the middle of the rotating connecting rod 2.

[0052] Furthermore, the adsorption head baffle 6 is provided with a plurality of through holes 15 that are adapted to the size of the curved teeth 7, and the curved teeth 7 all pass outward through the corresponding through holes 15.

[0053] The adsorption head baffle 6 has an adsorption hole 9 in the middle. The adsorption hole 9 is connected to one end of the adsorption tube 18. The other end of the adsorption tube 18 passes through the mounting base 11 and is connected to the adsorption cavity inside the rotating connecting rod 2.

[0054] Furthermore, the adsorption chamber inside the rotating connecting rod 2 is connected to the adsorption port 17 of the backpack-type adsorption collection device 16 via a connecting hose 23.

[0055] Furthermore, the flared collector 21 is fixedly connected to the side of the handle 1 by a fixing bracket 22, and the top flared opening of the flared collector 21 is located directly below the adsorption and picking head structure.

[0056] Furthermore, the bottom outlet of the flared collector 21 is connected to the collection port 28 of the backpack-type adsorption collection device 16 via a connecting hose 24.

[0057] Furthermore, the inner side of the adsorption head baffle 6 is provided with a proximity sensor 25 for detecting whether the adsorption head baffle 6 is pushed forward.

[0058] Furthermore, the outer wall of the rotating connecting rod 2 has an installation groove on the side facing the adsorption and picking head structure, and the lever mechanism 8 is hinged in the installation groove.

[0059] Example 2: This example provides an adsorption-type cowpea harvesting system, including an adsorption-type cowpea harvester, a flared collector, and a backpack-type adsorption collection device. The backpack-type adsorption collection device has an adsorption port and a collection port on its side. A connecting hose one is connected to the adsorption port at one end and to the adsorption-type cowpea harvester at the other end. A connecting hose two is connected to the collection port at one end and to the flared collector at the other end. A vacuum motor is placed inside the backpack-type adsorption collection device, creating a negative pressure inside the cavity to provide suction.

[0060] 1) Adsorption-type bean harvesting: This device utilizes a highly efficient adsorption mechanism to achieve rapid adsorption and harvesting of cowpeas. At the same time, the long adsorption port design can pick up multiple cowpeas, thus ensuring the efficiency of cowpea harvesting.

[0061] 2) Lever-type destemming mechanism: The built-in toothed comb device, controlled by a switch on the handle, allows the cowpeas fixed on the curved teeth to be smoothly pushed into the flared collector after harvesting, avoiding damage to the cowpeas during harvesting and helping to protect the integrity of the crop.

[0062] 3) Rotary harvesting design: Combining a rotary harvesting head, transmission device, flared collector and backpack-type adsorption collection system, it realizes integrated operation from picking to collection, which greatly improves harvesting efficiency. At the same time, the rotary harvesting method reduces crop damage and supports the secondary growth of cowpeas.

[0063] 4) 140° Curved Tooth Design: Designed specifically for the growth characteristics of cowpeas, multiple specially angled curved teeth ensure the machine closely grips the cowpeas during harvesting, providing a more stable hold and reducing harvesting time and labor. Simultaneously, the curved teeth separate the cowpeas from the leaves, preventing leaves from being sucked into the harvester. A small ball protection device above the curved teeth effectively prevents accidental detachment of cowpeas during harvesting, further ensuring crop integrity and harvest quality.

[0064] 5) Backpack-type adsorption and collection device: The negative pressure suction is generated by the negative pressure vacuum device in the cavity, which can realize automatic adsorption during the harvesting of green beans and automatic collection and storage after harvesting, which facilitates subsequent packaging.

[0065] Example 3: Based on the same inventive concept, this example also provides a control method for the adsorption-type cowpea harvesting system described above, mainly including the following steps:

[0066] S1, Adsorption-type pickup: Open the negative pressure vacuum device inside the backpack-type adsorption collection device 16, and at the same time open the electric valve 1 26 and close the electric valve 27, so that the adsorption hole 9 in the middle of the adsorption head baffle 6 generates suction, and the beans are adsorbed onto the harvester by negative pressure.

[0067] S2, Curved teeth fixing: The curved teeth 7 extending from the outside of the suction head baffle 6 grasp the cowpea along the inclined direction of the curved teeth, so that the cowpea is separated from the leaves and the cowpea after the leaves are separated is fixed.

[0068] S3, Rotary Harvesting: After the cowpeas are adsorbed and fixed, the rotary drive device is activated by the harvesting system controller, so that the rotary connecting rod 2 drives the adsorption harvesting head structure to rotate relative to the handle 1, thereby causing the cowpeas to break at the bean stem.

[0069] S4, lever-type destemming: After the cowpeas are harvested, the rotary drive device drives the rotary connecting rod 2 to reset, and at the same time, the electric valve 26 is closed and the push button 3 is manually pressed. Through the lever mechanism 8 and the push rod 13, the suction head baffle 6 slides outward relative to the suction head bottom plate 4, thereby pushing the harvested cowpeas to separate smoothly from the curved teeth 7 and fall into the flared collector 21.

[0070] S5, Automatic Triggered Collection: When the suction head baffle 6 slides outward relative to the suction head bottom plate 4, it triggers the proximity sensor 25. According to the trigger signal from the proximity sensor 25, the harvesting system controller closes the electric valve 1 26 and opens the electric valve 27, so that the bottom outlet of the flared collector 21 generates suction, and then sucks the cowpeas that fall into the flared collector 21 into the lower storage chamber 19 of the backpack-type suction collection device 16 through the connecting hose 24 for storage.

[0071] Furthermore, considering that cowpeas grow in a layered and progressive manner with little regularity, a handheld harvesting method was adopted to make harvesting more flexible and convenient. The adsorption port and curved teeth are used to hold the cowpeas in place, which can improve the efficiency and quality of harvesting.

[0072] Furthermore, considering that cowpeas will grow a second time after they mature, a rotating harvesting head is designed to break the cowpeas at the stem.

[0073] Furthermore, to separate the cowpeas that are adsorbed and fixed to the comb from the stem, the harvester is designed with a comb device. By pushing the comb forward, the cowpeas are detached, and the harvesting is completed without damaging the cowpeas, thus protecting the yield and quality of the cowpeas.

[0074] Furthermore, based on this, a unique 140° curved tooth design was created to grip the cowpeas more firmly, prevent them from falling off, effectively reduce the waste of time and manpower resources, and improve harvesting efficiency.

[0075] Furthermore, all parts of this application that are not described in detail are the same as or implemented using existing technology.

[0076] In summary:

[0077] 1. This invention provides an adsorption-type cowpea harvesting system with a compact overall structure. Through the combination of an adsorption-type cowpea harvester, a flared collector, a backpack-type adsorption collection device, and matching sensors and electric valves, it can achieve rapid harvesting and automatic collection of cowpeas. The system is convenient, fast, safe, and labor-saving, and can effectively improve the efficiency of manual harvesting of long cowpeas and reduce the labor intensity of farmers.

[0078] 2. This invention employs an inclined curved tooth structure, with the inclination direction of the curved teeth aligned with the rotational picking direction of the adsorption-type cowpea harvester. This allows the teeth to closely adhere to the cowpeas during the picking process, improving the cowpea gripping efficiency. Simultaneously, the curved teeth can separate the cowpeas from the leaves, preventing the leaves from being sucked into the harvester. Furthermore, the head of the curved tooth structure has a spherical protrusion adapted to the size of the cowpeas. Combined with the suction force of the adsorption holes, this ensures a more secure grip on the cowpeas during the picking process, preventing them from falling off. This effectively reduces the waste of time and manpower resources, further improving picking efficiency.

[0079] 3. The adsorption harvesting head structure of the present invention consists of an adsorption head base plate, curved teeth, and an adsorption head baffle forming a comb structure. After the cowpeas are harvested, the comb pushes forward, allowing the cowpeas fixed on the curved teeth to be smoothly pushed into the flared collector, thus completing the collection of harvested cowpeas without damaging them, ensuring the yield and quality of cowpeas.

[0080] 4. The adsorption-type cowpea harvester and the flared collector of the present invention are both connected to the backpack-type adsorption collection device through corresponding pipelines. The negative pressure vacuum device, electric valve and proximity sensor on the adsorption-type cowpea harvester in the backpack-type adsorption collection device are interlocked and controlled to realize automatic adsorption during cowpea harvesting and automatic collection and storage after harvesting, thereby improving the overall automation level and work efficiency of the harvesting system.

[0081] In summary, the intelligent adsorption cowpea harvesting system of the present invention, through a series of innovative designs, not only significantly improves the harvesting efficiency and quality of cowpeas, but also effectively protects the crop and reduces the labor intensity of farmers, which is of great significance for promoting agricultural modernization and sustainable development.

[0082] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An adsorptive cowpea picking system characterized by, The application relates to a cowpea picking device, which comprises an adsorption type cowpea picking device, a flared collector (21) and a backpack type adsorption collecting device (16), wherein an upper negative pressure cavity (20) and a lower storage cavity (19) are arranged in the backpack type adsorption collecting device (16), a negative pressure vacuum device is arranged in the upper negative pressure cavity (20), adsorption ports (17) and collecting ports (28) are respectively arranged in the side walls of the upper negative pressure cavity (20) and the lower storage cavity (19), electric valves one (26) and electric valves two (27) are respectively arranged on the inner sides of the adsorption ports (17) and the collecting ports (28), the adsorption ports (17) are connected with the adsorption type cowpea picking device through connecting hoses one (23), and the collecting ports (28) are connected with the flared collector (21) through connecting hoses two (24). The adsorption type cowpea picking device comprises a handle (1), a rotating connecting rod (2) and an adsorption picking head structure, the handle (1) is connected with the rotating connecting rod (2) through a rotating driving device at the top, and the rotating connecting rod (2) is provided with the adsorption picking head structure at the upper portion, and a proximity sensor (25) is arranged on the adsorption picking head structure. The electric valves one (26), the electric valves two (27), the rotating driving device and the proximity sensor (25) are electrically connected with a picking system controller. The adsorption picking head structure comprises an adsorption head bottom plate (4), a curved tooth gasket (5) and an adsorption head baffle (6), the adsorption head bottom plate (4) is arranged on the upper portion of the rotating connecting rod (2) through a mounting seat (11), the curved tooth gasket (5) is arranged on the outer surface of the adsorption head bottom plate (4), and the curved tooth gasket (5) is provided with a plurality of curved teeth (7) on the outer surface. The curved teeth (7) are arranged at an inclined angle, and the inclined direction is consistent with the rotating direction of the rotating connecting rod (2) during working, and the head portions of the curved teeth (7) are provided with spherical protrusions (10) matched with the size of cowpeas to be picked. A guide column (12) and a pushing rod (13) are arranged on the upper portion and the lower portion of the inner surface of the adsorption head baffle (6) respectively, the guide column (12) penetrates through a guide hole arranged on the upper portion of the adsorption head bottom plate (4) towards the inner side, and a limiting table is arranged on the inner end of the guide column (12). The pushing rod (13) penetrates through the lower portion of the adsorption head bottom plate (4) towards the inner side, is connected with one end of a lever mechanism (8) through a spring back pulling mechanism (14), and the other end of the lever mechanism (8) is connected with a pushing button (3) arranged on the middle portion of the rotating connecting rod (2). A plurality of through holes (15) matched with the size of the curved teeth (7) are arranged on the adsorption head baffle (6), and the curved teeth (7) all penetrate through the corresponding through holes (15) towards the outer side. An adsorption hole (9) is arranged in the middle portion of the adsorption head baffle (6), the adsorption hole (9) is communicated with one end of an adsorption pipe (18), and the other end of the adsorption pipe (18) is communicated with an adsorption cavity arranged in the rotating connecting rod (2) after penetrating through the mounting seat (11).

2. The system for picking cowpea according to claim 1, wherein, The adsorption cavity arranged inside the rotating connecting rod (2) is connected with the adsorption port (17) of the backpack type adsorption collecting device (16) through a connecting hose (23).

3. The system for picking cowpea according to claim 1, wherein, The flared collector (21) is fixedly connected to the side of the handle (1) through a fixing support (22), and the flared top of the flared collector (21) is arranged directly below the adsorption picking head structure.

4. The system for picking cowpea according to claim 3, wherein, The bottom outlet of the flared collector (21) is connected with the collecting port (28) of the backpack type adsorption collecting device (16) through a connecting hose (24).

5. The system for picking cowpea according to claim 1, wherein, The inner side of the adsorption head baffle (6) is provided with a proximity sensor (25) for detecting whether the adsorption head baffle (6) is pushed forward.

6. The system for picking cowpea according to claim 1, wherein, The side of the outer wall of the rotating connecting rod (2) facing the adsorption picking head structure is provided with a mounting groove, and the lever mechanism (8) is hinged in the mounting groove.

7. A method of controlling the system for picking cowpea by adsorption as claimed in any one of claims 1 to 6, characterized by, The method comprises the following steps: S1, adsorption picking: the negative pressure vacuum device inside the backpack type adsorption collecting device (16) is turned on, at the same time, the electric valve (26) is opened and the electric valve (27) is closed, so that the adsorption holes (9) in the middle of the adsorption head baffle (6) generate suction force, and the cowpea is adsorbed onto the picker through negative pressure; S2, curved tooth fixing: the curved teeth (7) extending outside the adsorption head baffle (6) are used to grab the cowpea along the inclined direction of the curved teeth, so that the cowpea is separated from the leaf and fixed after the leaf is separated; S3, rotary harvesting: after the cowpea is adsorbed and fixed, the rotary driving device is opened through the picking system controller, so that the rotating connecting rod (2) drives the adsorption picking head structure to rotate relative to the handle (1), and then the cowpea is broken at the bean stem; S4, lever type de-stemming: after the cowpea is harvested, the rotary driving device drives the rotating connecting rod (2) to reset, at the same time, the electric valve (26) is closed and the push button (3) is manually pressed, the adsorption head baffle (6) is driven to slide outward relative to the adsorption head bottom plate (4) through the lever mechanism (8) and the push rod (13), and then the harvested cowpea is smoothly separated from the curved teeth (7) and falls into the flared collector (21); S5, automatic trigger type collecting: when the adsorption head baffle (6) slides outward relative to the adsorption head bottom plate (4), the proximity sensor (25) is triggered, the picking system controller closes the electric valve (26) and opens the electric valve (27) according to the trigger signal of the proximity sensor (25), so that the bottom outlet of the flared collector (21) generates suction force, and then the cowpea falling into the flared collector (21) is sucked into the lower storage cavity (19) of the backpack type adsorption collecting device (16) through the connecting hose (24) for storage.

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