Continuous harvesting low vehicle for long-stem and leafy crops and continuous harvesting and leaf removal method thereof

Abstract

A continuous harvesting low vehicle for long-stem leafy crops and a continuous harvesting and leaf removal method thereof, which currently lacks a related device that takes into account continuous harvesting, protects lettuce roots from damage and removes excess branches and leaves during the harvesting process, and includes a main support plate, a horizontal and vertical conversion grabbing assembly, a cutting assembly, a bottom reciprocating grabbing and leaf removal piece, a root placement rack and a head placement rack, wherein the main support plate is horizontally arranged, a strip notch is provided on the top of the main support plate, a cutting assembly is provided at the bottom of the main support plate, a horizontal and vertical conversion grabbing assembly is arranged on the main support plate, a root placement rack and a head placement rack are arranged on the main support plate, the root placement rack is arranged close to the horizontal and vertical conversion grabbing assembly, the head placement rack is arranged away from the horizontal and vertical conversion grabbing assembly, a bottom reciprocating grabbing and leaf removal piece is arranged between the root placement rack and the head placement rack, and the bottom reciprocating leaf removal piece makes reciprocating motion along the length direction of the strip notch. The present invention is used for harvesting and leaf removal of lettuce to achieve efficient and low-loss harvesting.

Description

Technical Field

[0001] The invention particularly relates to a continuous harvesting low vehicle for long-stem and leafy crops and a continuous harvesting and leaf removal method thereof. Background Art

[0002] A typical long-stem, leafy crop is lettuce. Lettuce can be harvested when the height of the tender leaves is the same as the height of the leaves. At this time, the quality of the lettuce is the best. When harvesting, the lettuce needs to be cut from the roots without damaging the branches. When keeping lettuce for seeds, it is necessary to select healthy plants without side branches as seed plants, and then provide them with balanced nutrition. After the seeds turn dark brown, collect the seeds. It is necessary to choose the right time to harvest lettuce. The growth cycle of lettuce is about eighty days, so lettuce can be harvested eighty days after planting. However, some lettuces absorb less nutrients and grow more slowly. Therefore, when harvesting lettuce, you cannot only look at the time, but also need to observe the plant. It is best to harvest at the top of the tender leaves of the lettuce when it is flush with the tip of the highest leaf.

[0003] Harvesting lettuce requires the right method. When harvesting lettuce, you can use a sickle to cut the plant from the root, and then remove the yellow old leaves at the bottom to help the plant save nutrients. After harvesting, you can use tape or hemp rope to tie the lettuce together and store it in a cool environment. When harvesting, you need to be careful not to damage the root of the lettuce to prevent the wound from rotting.

[0004] When saving lettuce for seeds, you need to choose suitable seed plants. You can choose lettuces that grow healthily, bolt late, have dense internodes and few leaves as seed plants. During the cultivation process, you can provide the seed plants with compound fertilizers rich in mineral elements to increase the growth rate of the plants. After the lettuce blooms, you need to provide it with phosphorus and potassium fertilizers.

[0005] At present, the research on the standardized operation technology of harvesting and removing leaves of long-stem and leafy crops is still in the theoretical research aspect, and the harvesting and removing leaves of long-stem and leafy crops on the market still adopts the manual harvesting method. As the concept of green diet gradually penetrates into the hearts of the people, lettuce is deeply loved by people because of its refreshing taste, but the yield obtained by the manual harvesting method is not proportional to the market demand. It is urgent to realize mechanized harvesting of lettuce, but a lettuce harvesting and removing leafing machine developed by domestic scientific research institutions has some shortcomings. It uses an automatic leaf beating mechanism, and uses a rope to hit the leaves during the rotation process to make them fall. The shortcoming is that there is a risk of damaging the stem of the lettuce. Once the stem is damaged, the lettuce will rot in a short time, causing economic losses. Another shortcoming is that the leaf beating mechanism cannot accurately hit the connection between the leaf and the stem. Most of them will hit the stem or the middle of the leaf, resulting in incomplete leaf removal or damage to the stem. In short, there is a lack of related equipment that takes into account continuous harvesting, protects the root and stem of the lettuce from damage during the harvesting process, and removes excess branches and leaves. Summary of the invention

[0006] In order to overcome the defects of the prior art, a low vehicle for continuous harvesting of long-stem and multi-leaf crops is provided to solve the above problems.

[0007] A low continuous harvesting vehicle for long-stem and leafy crops comprises a main support plate, a horizontal and vertical conversion grabbing assembly, a cutting assembly, a bottom-mounted reciprocating grabbing and leaf-removing member, a root placement frame and a head placement frame, wherein the main support plate is arranged horizontally, one end of the main support plate is processed with a strip notch along its thickness direction, the length direction of the strip notch is in the same direction as the length direction of the main support plate, one end of the strip notch is a crop entry end, a cutting assembly is arranged on the bottom surface of the main support plate, the cutting assembly is arranged close to the crop entry end of the strip notch, the horizontal and vertical conversion grabbing assembly is arranged horizontally on the main support plate, and the horizontal and vertical conversion grabbing assembly is arranged toward the strip notch. The crop entry end of the mouth is arranged, the grabbing direction of the horizontal and vertical conversion grabbing component is arranged toward the strip notch, the root placement rack and the head placement rack are both arranged on the main support plate, the root placement rack and the head placement rack are arranged on both ends of the strip notch in sequence along the length direction of the strip notch, the root placement rack is arranged close to the horizontal and vertical conversion grabbing component, the head placement rack is arranged away from the horizontal and vertical conversion grabbing component, the bottom reciprocating grabbing defoliator is arranged between the root placement rack and the head placement rack, the bottom of the bottom reciprocating defoliator is arranged on the main support plate, and the bottom reciprocating defoliator makes reciprocating motion along the length direction of the strip notch.

[0008] A continuous harvesting and leaf removal method is implemented by using the above-mentioned continuous harvesting low vehicle for long-stem and leafy crops. The continuous harvesting and leaf removal method is:

[0009] Cutting operation for long-stem multi-leaf crops: start the main support plate and the cutting assembly at the designated starting position, the main support plate is in a forward moving state, and after the first long-stem multi-leaf crop in front of the main support plate enters the strip-shaped notch, start the horizontal and vertical conversion grabbing assembly, after the first self-controlled opening and closing grabbing member in the horizontal and vertical conversion grabbing assembly moves horizontally close to the first long-stem multi-leaf crop, control the two first grabbing claws to grab the first long-stem multi-leaf crop, and cut off the bottom of the first long-stem multi-leaf crop through the cutting assembly;

[0010] One posture conversion operation: after the bottom of the first long-stem multi-leaf crop is cut off by the cutting assembly, the two first grabbing claws are driven by the driving member to make a flipping motion, and after the two first grabbing claws are flipped, the first grabbing claws are placed between the root placement frame, the rotating displacement member and the head placement frame;

[0011] Axial outer wall leaf removal operation: Control the bottom-mounted reciprocating grabbing and leaf removal element to grab the first long-stem leafy crop and perform a reciprocating cutting action along the length direction of the first long-stem leafy crop to cut the leaves on the outer circumference of the first long-stem leafy crop;

[0012] Secondary posture conversion operation: after cutting the leaves on the outer circumference of the first long-stem multi-leaf crop, the first long-stem multi-leaf crop is synchronously rotated to the terminal storage rack by flipping the rotating shift member. During the defoliation and storage of the first long-stem multi-leaf crop, the defoliation and storage process of the second long-stem multi-leaf crop is continuously carried out according to the above-mentioned operating principle, thereby completing the cyclic operation process of continuous cutting, primary posture conversion, axial outer wall defoliation and secondary posture conversion for each long-stem multi-leaf crop, thereby completing the continuous harvesting operation process.

[0013] The beneficial effects of the present invention are:

[0014] The present invention is a standardized operation process that can preserve the cutting flatness of the root neck of lettuce or other long-stem leafy crops to the maximum extent and achieve the defoliation rate to the maximum extent, and complete the batch harvesting of lettuce or other long-stem leafy crops. The present invention can realize the harvesting process of cutting at the root of lettuce or other long-stem leafy crops without damaging the root of lettuce, one posture conversion, axial outer wall defoliation, and secondary posture conversion through the cooperation between the main support plate, the horizontal and vertical conversion grabbing assembly, the cutting assembly, the bottom reciprocating grabbing defoliating member, the root placement rack and the head placement rack. The harvesting operation is standardized and unified. The entire harvesting process can preserve the integrity of the root and stem while adapting to the defoliation and pulling of lettuce at different positions and different outer diameters. The defoliation effect is thorough and the storage process is continuous, which is adapted to the batch operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of a first three-dimensional structure of the present invention;

[0016] Figure 2 It is a side view schematic diagram of the structure of the present invention, in which the moving roller is not shown;

[0017] Figure 3 It is a schematic diagram of a second three-dimensional structure of the present invention;

[0018] Figure 4 is a schematic diagram of a third three-dimensional structure of the present invention;

[0019] Figure 5 is a schematic diagram of a fourth three-dimensional structure of the present invention;

[0020] Figure 6 It is a schematic diagram of the three-dimensional structure of the horizontal and vertical conversion grabbing component;

[0021] Figure 7 It is a three-dimensional structural schematic diagram of the connection relationship between the rear support seat, the front support seat, the main transmission shaft and the support slider;

[0022] Figure 8 is a three-dimensional structural schematic diagram of the connection relationship between the first dual-axis steering gear, the first support plate and the first grabbing claw piece;

[0023] Fig. 9 is a schematic diagram of the three-dimensional structure of the cutting component;

[0024] Fig.10 A three-dimensional structural schematic diagram of the connection relationship between the side support seat and the self-rotating saw blade;

[0025] Fig.11 It is a schematic diagram of the front view of the connection relationship between the side support seat and the self-rotating saw blade;

[0026] Fig.12 A schematic diagram of the top view of the connection between the main support plate and the bottom-mounted reciprocating grabbing and defoliating member;

[0027] Fig.13 A three-dimensional structural schematic diagram of the connection relationship between the main support plate and the bottom-mounted reciprocating grabbing and defoliating element;

[0028] Fig.14 is a schematic diagram of the three-dimensional structure of the rotating displacement member;

[0029] Fig.15 It is a schematic diagram of the three-dimensional structure of the root placement rack;

[0030] Fig.16 It is a schematic diagram of the main structure of an arc-shaped claw in the second grabbing claw piece;

[0031] Fig.17 It is a schematic diagram of the three-dimensional structure of the terminal storage rack.

[0032] In the figure: 1-main support plate; 2-horizontal and vertical conversion grabbing assembly; 2-1-main transmission shaft; 2-2-driving member; 2-3-rear support seat; 2-4-front support seat; 2-5-first dual-axis servo; 2-6-first support plate; 2-7-first grab claw piece; 2-7-1-connecting end; 2-7-2-opening and closing end; 27-1-connecting rod; 27-2-arc-shaped piece; 27-3-rotating roller; 27-4-first tooth; 27-5-second tooth; 2-8-stepping motor; 2-9-motor bracket; 2-10-coupling; 2-11-guide rail; 2-12-support slider; 3-cutting assembly; 3-1-first linear slide; 3-1-1-slide; 3-2-side support Support seat; 3-3-rotating saw blade; 4-bottom-mounted reciprocating grabbing and leaf removal member; 4-1-second linear slide; 4-2-second dual-axis servo; 4-3-second support plate; 4-4-second grabbing claw; 4-5-blade side; 5-root placement rack; 5-1-strip placement groove; 6-head placement rack; 7-strip notch; 8-rotating shifting member; 8-1-driving motor; 8-2-toggle rod; 8-2-1-notch; 9-terminal storage rack; 9-1-short flat rod; 9-2-long plate body; 10-moving roller; 11-triangular weight-reducing hole; 12-strip weight-reducing hole; 13-bottom bracket; 14-1-main profile frame; 14-2-auxiliary profile frame; 15-center reinforcement rib; 41-arc-shaped strip claw. DETAILED DESCRIPTION

[0033] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention is implemented or applied through different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0034] Specific implementation method 1: Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 and Fig.17The present embodiment is described. In the present embodiment, the continuous harvesting low vehicle for long-stem leafy crops comprises a main support plate 1, a horizontal and vertical conversion grabbing assembly 2, a cutting assembly 3, a bottom reciprocating grabbing and leafing removal component 4, a root placement rack 5 and a head placement rack 6. The main support plate 1 is horizontally arranged. The main support plate 1 is a rectangular or square plate body. One end of the main support plate 1 is processed with a strip notch 7 along its thickness direction. The length direction of the strip notch 7 is in the same direction as the length direction of the main support plate 1. One end of the strip notch 7 is a crop entry end, and the crop entry end faces a plurality of lettuces or other long-stem leafy crops in a row. In addition to the position of the strip notch 7 on the main support plate 1, the main support plate 1 is also processed with a number of weight-reducing holes along its thickness direction. The number of weight-reducing holes includes a number of triangular weight-reducing holes 11 and a number of strip weight-reducing holes 12. The length direction of the strip weight-reducing holes 12 is in the same direction as the length direction of the main support plate 1. The number of triangular weight-reducing holes 11 are concentrated on one side of the strip notch 7 to maintain the balance performance of the strip notch 7 and the bottom-mounted reciprocating grabbing and leaf removing component 4 during operation, to achieve a dynamically balanced harvesting process, and to achieve a stable, continuous and harvesting process.

[0035] A cutting assembly 3 is arranged on the bottom surface of the main support plate 1. The cutting assembly 3 is arranged near the crop entry end of the strip notch 7. The length direction of the cutting assembly 3 is in the same direction as the width direction of the main support plate 1. The cutting assembly 3 reciprocates along the width direction of the strip notch 7. The horizontal and vertical conversion grabbing assembly 2 is horizontally arranged on the main support plate 1. The horizontal and vertical conversion grabbing assembly 2 is arranged toward the crop entry end of the strip notch 7. The horizontal and vertical conversion grabbing assembly 2 is arranged toward the strip notch 7. The grabbing direction of the horizontal and vertical conversion grabbing assembly 2 is arranged toward the strip notch 7. The root placement frame 5 and the head placement frame The racks 6 are all arranged on the main support plate 1, and the root placement rack 5 and the head placement rack 6 are arranged at the two ends of the strip notch 7 in sequence along the length direction of the strip notch 7, the root placement rack 5 is arranged close to the horizontal and vertical conversion grabbing assembly 2, and the head placement rack 6 is arranged away from the horizontal and vertical conversion grabbing assembly 2, and the bottom reciprocating grabbing defoliating element 4 is arranged between the root placement rack 5 and the head placement rack 6, and the bottom of the bottom reciprocating defoliating element 4 is arranged on the main support plate 1, and the bottom reciprocating defoliating element 4 makes reciprocating motion along the length direction of the strip notch 7.

[0036] The present invention can realize a complete and systematic harvesting process of cutting at the root of lettuce or other long-stem leafy crops without damaging the root of lettuce, primary posture conversion, axial outer wall leaf removal and secondary posture conversion through the mutual cooperation among the main support plate 1, the horizontal and vertical conversion grabbing component 2, the cutting component 3, the bottom reciprocating grabbing leaf removal component 4, the root placement rack 5 and the head placement rack 6.

[0037] Specific implementation method two: This implementation method is a further limitation of specific implementation method one. In this implementation method, the horizontal and vertical conversion grasping component 2 is a multi-degree-of-freedom component that can achieve horizontal translation and self-flipping, and is used for positioning the lettuce before and after the initial cutting and assisting the lettuce in the posture conversion process. The horizontal and vertical conversion grasping component 2 includes a main transmission shaft 2-1, a driving member 2-2, a rear support seat 2-3, a front support seat 2-4 and a first automatic opening and closing grasping member. The front support seat 2-4 and the rear support seat 2-3 are horizontally arranged in parallel, and the main transmission shaft 2-1 is horizontally penetrated between the front support seat 2-4 and the rear support seat 2-3. The driving member 2-2 is mounted on the main transmission shaft 2-1, and the driving member 2-2 reciprocates along the length direction of the main transmission shaft 2-1. The driving member 2-2 is provided with a first automatic opening and closing grasping member, and the first automatic opening and closing grasping member includes a first dual-axis servo 2-5, a first support plate 2-6 and two first grab claws 2-7. The driving member 2- The output shaft of the first support plate 2-6 is connected to one side of the first support plate 2-6, and the other side of the first support plate 2-6 is provided with a first dual-axis steering gear 2-5. Each output shaft of the first dual-axis steering gear 2-5 is provided with a first grab claw piece 2-7. One end of each first grab claw piece 2-7 is a connecting end 2-7-1, and the other end of each first grab claw piece 2-7 is an opening and closing end 2-7-2. The connecting end of each first grab claw piece 2-7 is hinged to an output end of the first dual-axis steering gear 2-5. On the shaft, the two connecting ends 2-7-1 of the two first grabbing claw pieces 2-7 are meshed with each other, and the two opening and closing ends 2-7-2 of the two first grabbing claw pieces 2-7 are arranged toward the strip-shaped notch 7. The two first grabbing claw pieces 2-7 are driven by the driving member 2-2 to make horizontal reciprocating movement and / or flipping movement along the length direction of the main transmission shaft 2-1, and the two opening and closing ends 2-7-2 of the two first grabbing claw pieces 2-7 are driven by the first dual-axis servo 2-5 to make an opening or closing action.

[0038] In this embodiment, the first grabbing claw piece 2-7 includes two connecting rods 27-1, three arc-shaped pieces 27-2 and a plurality of rotating rollers 27-3. The three arc-shaped pieces 27-2 are arranged in parallel from top to bottom, and three rotating rollers 27-3 are hinged between two adjacent arc-shaped pieces 27-2. The topmost arc-shaped piece 27-2 among the three arc-shaped pieces 27-2 is hinged to one end of a connecting rod 27-1, and the other end of the connecting rod 27-1 is a circular end, and a plurality of first teeth 27-4 are integrally connected to the outer wall of the circular end. The lowest arc-shaped piece 27-2 among the three arc-shaped pieces 27-2 is hinged to one end of another connecting rod 27-1, and the other end of the connecting rod 27-1 is a circular end, and a plurality of second teeth 27-5 are integrally connected to the outer wall of the circular end.

[0039] Specific implementation method three: This implementation method is a further limitation of specific implementation method one. The horizontal and vertical conversion grabbing assembly 2 also includes a stepper motor 2-8, a motor bracket 2-9, a coupling 2-10, a guide rail 2-11 and a support slider 2-12. The main transmission shaft 2-1 is equipped with a stepper motor 2-8, a motor bracket 2-9 and a coupling 2-10. The motor bracket 2-9 is provided with a stepper motor 2-8, and the output shaft of the stepper motor 2-8 is connected to the main transmission shaft 2-1 through the coupling 2-10; a guide rail 2-11 is provided between the front support seat 2-4 and the rear support seat 2-3, and the guide rail 2-11 is directly below the main transmission shaft 2-1, and the support slider 2-12 is mounted on the guide rail 2-11. The support slider 2-12 reciprocates along the length direction of the guide rail, and the top of the support slider 2-12 is connected to the bottom of the driving member 2-2, and the driving member 2-2 drives the support slider 2-12 to make synchronous reciprocating motion.

[0040] Working process:

[0041] First motion posture: the main transmission shaft 2-1 is driven by the stepper motor 2-8 to rotate, and the rotation of the main transmission shaft 2-1 drives the first automatic opening and closing grasping member to reciprocate along the length direction of the main transmission shaft 2-1;

[0042] Second motion posture: the first self-controlled opening and closing grasping member rotates 90 degrees driven by the power output shaft of the driving member 2-2;

[0043] The third motion posture: the two first grabbing claws 2-7 make a relatively approaching or relatively moving away movement under the drive of the first biaxial servo 2-5. When the two first grabbing claws 2-7 make a relatively approaching movement under the drive of the first biaxial servo 2-5, the two first grabbing claws 2-7 are in a state of clamping lettuce. When the two first grabbing claws 2-7 make a relatively moving away movement under the drive of the first biaxial servo 2-5, the two first grabbing claws 2-7 are in a state of releasing lettuce.

[0044] The first motion posture, the second motion posture and the third motion posture can be realized synchronously, alternately or continuously in sequence, and the relevant posture operation and action connection conversion process are carried out according to the electronic control program.

[0045] Specific embodiment four: This embodiment is a further limitation of specific embodiments one, two or three, and the cutting assembly 3 includes a first linear slide 3-1, a side support seat 3-2 and a self-rotating saw blade 3-3. The first linear slide 3-1 is arranged at the front end of the main support plate 1 along the width direction of the main support plate 1, the side support seat 3-2 is arranged on the slide 3-1-1 of the first linear slide 3-1, and the side support seat 3-2 is provided with a self-rotating saw blade 3-3.

[0046] Furthermore, the self-rotating saw blade 3-3 includes a driving motor and a circular saw blade, and the circular saw blade is mounted on the output shaft of the driving motor.

[0047] Specific embodiment five: This embodiment is a further limitation of specific embodiments one, two, three or four, the bottom-mounted reciprocating grabbing leaf removing member 4 includes a second linear slide 4-1 and a second automatic opening and closing grabbing member, the second linear slide 4-1 is arranged at the bottom of the main support plate 1 along the length direction of the strip notch 7, the second automatic opening and closing grabbing member is penetrated at the strip notch 7, the bottom of the second automatic opening and closing grabbing member is connected to the slide of the second linear slide 4-1, and the second automatic opening and closing grabbing member reciprocates along the length direction of the strip notch 7 driven by the second linear slide 4-1;

[0048] The second self-controlled opening and closing grasping member includes a second biaxial servo 4-2, a second support plate 4-3 and two second grasping claws 4-4. The second support plate 4-3 is arranged on the slide of the second linear slide 4-1. The second biaxial servo 4-2 is arranged on the second support plate 4-3. A second grasping claw 4-4 is arranged on each output shaft of the second biaxial servo 4-2. One end of each second grasping claw 4-4 is hinged on the output shaft of the second biaxial servo 4-2. The two second grasping claws 4-4 are meshed with each other. The inner side of each second grasping claw 4-4 is a blade side 4-5. The two second grasping claws 4-4 are driven by the second linear slide 4-1 to make a reciprocating movement along the length direction of the strip notch 7. The two second grasping claws 4-4 are driven by the second biaxial servo 4-2 to make an opening or closing action.

[0049] In this embodiment, the structural form of the second grabbing claw piece 4-4 is basically the same as the structural form of the first grabbing claw piece. The only difference is that the arc piece 27-2 is replaced by an arc-shaped claw 41, and the inner side of the arc-shaped claw 41 is the blade side 4-5, so that the leaves on the outer circumference of the lettuce can be removed by holding the outer wall of the lettuce in an arc shape and cutting in a circumferential manner.

[0050] Combination Figure 3 , Figure 4 , Figure 8 and Fig.16 As shown, in this embodiment, the second self-controlled opening and closing gripping member can realize the leaf pulling and leaf removing actions under different diameter conditions. The leaf pulling and leaf removing principle is based on the external structure of the lettuce, and the arc of the gripping is controlled to include two layers of gripping structure:

[0051] The first layer is: the hinged position between the connecting rod 27-1 and the arc-shaped claw 41 in the second grabbing claw piece 4-4 is equipped with a torsion spring; the second layer is the position where the two connecting rods 27-1 are meshed, and the rotation angle is controlled by the second dual-axis steering gear 4-2. Through the double-layer clamping, the blade side 4-5 of the arc-shaped claw 41 can expand or close to cut the multi-layer leaves on the outer circumferential epidermis of the lettuce as needed, so as to realize the process of pulling the leaves from the thick end to the thin end of the lettuce. And the direction of the leaf removal operation is to go against the growth direction of the lettuce leaves, which is more conducive to realizing the accurate, fast and thorough leaf removal and leaf pulling process.

[0052] Specific embodiment six: This embodiment is a further limitation of specific embodiments one, two, three, four or five. In this embodiment, the main support plate 1 is provided with a supporting profile frame, which includes a main profile frame 14-1, a secondary profile frame 14-2 and a plurality of bottom brackets 13. The second linear slide 4-1 is provided with a plurality of bottom brackets 13. The main profile frame 14-1 and the secondary profile frame 14-2 are both rectangular frames. The main profile frame 14-1 and the secondary profile frame 14-2 are arranged side by side on the bottom surface of the main support plate 1 along the length direction of the main support plate 1. The plurality of bottom brackets 13 are arranged side by side directly below the strip notch 7 along the length direction of the strip notch 7. The bottom bracket 13 is a U-shaped frame. The two ends of the bottom bracket 13 are respectively fixedly connected to the main profile frame 14-1 and the secondary profile frame 14-2. The plurality of bottom brackets 13 are provided with the bottom-mounted reciprocating defoliating member 4.

[0053] Furthermore, a central reinforcing rib 15 is provided inside the main profile frame 14 - 1 along its length direction, which is used to balance and strengthen the supporting performance of the main profile frame 14 - 1 and provide a connection position for other components at the bottom of the main support plate 1 .

[0054] Specific embodiment 7: This embodiment is a further limitation of specific embodiments 1, 2, 3, 4, 5 or 6. The root placement rack 5 and the head placement rack 6 are both U-shaped racks, and a strip placement groove 5-1 is processed on the top of the root placement rack 5 facing the head placement rack 6. The strip placement groove 5-1 is adapted to the root of the lettuce after cutting, realizing a flat extrusion method, which is more conducive to the rapid and stable positioning process of the root and stem of the lettuce, thereby facilitating the overall positioning effect of the lettuce.

[0055] Specific embodiment eight: This embodiment is a further limitation of specific embodiments one, two, three, four, five, six or seven, and also includes a terminal storage rack 9, which is a rectangular frame. The terminal storage rack 9 includes two flat short rods 9-1 and two long plates 9-2. The two flat short rods 9-1 are arranged horizontally in parallel along the length direction of the strip notch 7. The length direction of the flat short rods 9-1 is in the same direction as the width direction of the strip notch 7. Two long plates 9-2 are arranged vertically in parallel between the two flat short rods 9-1. The length direction of the long plates 9-2 is in the same direction as the length direction of the strip notch 7. The two ends of each long plate 9-2 are fixedly connected to the two flat short rods 9-1. The structural form of the terminal storage rack 9 is adapted to the moving mode of the rotating shifting member 8, which can not only realize the centralized retracted state of the lettuce after storage, but also provide a favorable spatial position for the vertical placement of the two ends of the lettuce.

[0056] Specific embodiment nine: This embodiment is a further limitation of specific embodiments one, two, three, four, five, six, seven or eight, and also includes a rotating shift member 8, which is arranged between the root placement rack 5 and the head placement rack 6, and the rotating shift member 8 includes a driving motor 8-1 and a toggle rod 8-2. The driving motor 8-1 is arranged close to the head placement rack 6, and the driving motor 8-1 is fixedly connected to the main support plate 1. One end of the toggle rod 8-2 is hinged on the output shaft of the driving motor 8-1, and a notch 8-2-1 is processed on the toggle rod 8-2. When the toggle rod 8-2 is driven by the driving motor 8-1 to rotate to between the root placement rack 5 and the head placement rack 6, the toggle rod 8-2 is in a supporting use state, and the notch 8-2-1 is set upward; when the toggle rod 8-2 is driven by the driving motor 8-1 to rotate to the top of the terminal storage rack 9, the toggle rod 8-2 is in a released use state, and the notch 8-2-1 is set downward.

[0057] Specific embodiment ten: This embodiment is a further limitation of specific embodiments one, two, three, four, five, six, seven, eight or nine, and two moving rollers 10 are provided on each side of the main support plate 1 .

[0058] The low vehicle for continuous harvesting of long-stem and leafy crops in the present invention is equipped with a control assembly, which includes a controller. The electronic control program arranged in conjunction with the controller is an existing electronic control program, which is used for the horizontal and vertical conversion of the opening, closing, running trajectory and movement posture conversion of the grabbing component 2, the cutting component 3 and the bottom-mounted reciprocating grabbing and leaf removing component 4.

[0059] Specific implementation method eleven: Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 and Fig.17 To illustrate this embodiment, the continuous harvesting and leaf removal method is as follows:

[0060] Cutting operation for long-stem multi-leaf crops: start the main support plate 1 and the cutting assembly 3 at the designated starting position, the main support plate 1 is in a forward state, and after the first long-stem multi-leaf crop in front of the main support plate 1 enters the strip-shaped notch 7, start the horizontal and vertical conversion grabbing assembly 2, and after the first automatic opening and closing grabbing member in the horizontal and vertical conversion grabbing assembly 2 moves horizontally close to the first long-stem multi-leaf crop, control the two first grabbing claws 2-7 to grab the first long-stem multi-leaf crop, and cut off the bottom of the first long-stem multi-leaf crop through the cutting assembly 3;

[0061] One posture conversion operation: after the bottom of the first long-stem leafy crop is cut off by the cutting assembly 3, the two first grabbing claws 2-7 are driven by the driving member 2-2 to make a flipping motion, and after the two first grabbing claws 2-7 are flipped, the first grabbing claws 2-7 are placed between the root placement frame 5, the rotating displacement member 8 and the head placement frame 6;

[0062] Axial outer wall leaf removal operation: Control the bottom-mounted reciprocating grabbing and leaf removal element 4 to grab the first long-stem leafy crop and perform a reciprocating cutting action along the length direction of the first long-stem leafy crop to cut the leaves on the outer circumference of the first long-stem leafy crop;

[0063] Secondary posture conversion operation: after cutting the leaves on the outer circumference of the first long-stem multi-leaf crop, the first long-stem multi-leaf crop is synchronously rotated to the terminal storage rack 9 by turning the rotating shift member 8. During the defoliation and storage of the first long-stem multi-leaf crop, the defoliation and storage process of the second long-stem multi-leaf crop is continuously carried out according to the above-mentioned operating principle, thereby completing the cyclic operation process of continuous cutting, primary posture conversion, axial outer wall defoliation and secondary posture conversion for each long-stem multi-leaf crop, thereby completing the continuous harvesting operation process.

[0064] The continuous harvesting low vehicle for long-stem and leafy crops in this embodiment comprises a main support plate 1, a horizontal and vertical conversion grabbing assembly 2, a cutting assembly 3, a bottom-mounted reciprocating grabbing and leaf removing member 4, a root placement frame 5 and a head placement frame 6. The main support plate 1 is horizontally arranged, and two movable rollers 10 are arranged on each side of the main support plate 1. One end of the main support plate 1 is processed with a strip notch 7 along its thickness direction, and the length direction of the strip notch 7 is in the same direction as the length direction of the main support plate 1. One end of the strip notch 7 is a crop entry end. A cutting assembly 3 is arranged on the bottom surface of the main support plate 1, and the cutting assembly 3 is arranged near the crop entry end of the strip notch 7. The horizontal and vertical conversion grabbing assembly 2 is horizontally arranged on the main support plate 1, and the horizontal and vertical conversion grabbing assembly 2 is horizontally arranged on the main support plate 1. The crop entry end of the strip notch 7 is arranged toward the grabbing component 2, and the grabbing direction of the horizontal and vertical conversion grabbing component 2 is arranged toward the strip notch 7. The root placement rack 5 and the head placement rack 6 are both arranged on the main support plate 1. The root placement rack 5 and the head placement rack 6 are arranged at both ends of the strip notch 7 in sequence along the length direction of the strip notch 7. The root placement rack 5 is arranged close to the horizontal and vertical conversion grabbing component 2, and the head placement rack 6 is arranged away from the horizontal and vertical conversion grabbing component 2. The bottom reciprocating grabbing defoliating component 4 is arranged between the root placement rack 5 and the head placement rack 6. The bottom of the bottom reciprocating defoliating component 4 is arranged on the main support plate 1, and the bottom reciprocating defoliating component 4 makes reciprocating motion along the length direction of the strip notch 7.

[0065] Among them, the transverse and longitudinal conversion grabbing assembly 2 includes a main transmission shaft 2-1, a driving member 2-2, a rear support seat 2-3, a front support seat 2-4 and a first automatic opening and closing grabbing member. The front support seat 2-4 and the rear support seat 2-3 are horizontally arranged in parallel, and the main transmission shaft 2-1 is horizontally penetrated between the front support seat 2-4 and the rear support seat 2-3. The driving member 2-2 is sleeved on the main transmission shaft 2-1, and the driving member 2-2 reciprocates along the length direction of the main transmission shaft 2-1. The driving member 2-2 is provided with a first automatic opening and closing grabbing member, and the first automatic opening and closing grabbing member includes a first dual-axis servo 2-5, a first support plate 2-6 and two first grabbing claws 2-7. The output shaft of the driving member 2-2 is connected to one side of the first support plate 2-6, and the other side of the first support plate 2-6 is provided with a first dual-axis servo 2-5 , a first grabbing claw piece 2-7 is arranged on each output shaft of the first dual-axis servo 2-5, one end of each first grabbing claw piece 2-7 is a connecting end 2-7-1, and the other end of each first grabbing claw piece 2-7 is an opening and closing end 2-7-2, the connecting end of each first grabbing claw piece 2-7 is hinged on an output shaft of the first dual-axis servo 2-5, the two connecting ends 2-7-1 of the two first grabbing claw pieces 2-7 are meshed with each other, the two opening and closing ends 2-7-2 of the two first grabbing claw pieces 2-7 are arranged toward the strip-shaped notch 7, the two first grabbing claw pieces 2-7 make horizontal reciprocating movement and / or flipping movement along the length direction of the main transmission shaft 2-1 driven by the driving member 2-2, and the two opening and closing ends 2-7-2 of the two first grabbing claw pieces 2-7 make opening or closing movements under the drive of the first dual-axis servo 2-5.

[0066] Among them, the horizontal and vertical conversion grabbing assembly 2 also includes a stepper motor 2-8, a motor bracket 2-9, a coupling 2-10, a guide rail 2-11 and a supporting slider 2-12. The main transmission shaft 2-1 is equipped with a stepper motor 2-8, a motor bracket 2-9 and a coupling 2-10. The motor bracket 2-9 is provided with a stepper motor 2-8, and the output shaft of the stepper motor 2-8 is connected to the main transmission shaft 2-1 through the coupling 2-10; a guide rail 2-11 is provided between the front support seat 2-4 and the rear support seat 2-3, and the guide rail 2-11 is directly below the main transmission shaft 2-1, and the supporting slider 2-12 is mounted on the guide rail 2-11, and the supporting slider 2-12 reciprocates along the length direction of the guide rail. The top of the supporting slider 2-12 is connected to the bottom of the driving member 2-2, and the driving member 2-2 drives the supporting slider 2-12 to make synchronous reciprocating motion.

[0067] Among them, the cutting assembly 3 includes a first linear slide 3-1, a side support seat 3-2 and a self-rotating saw blade 3-3. The first linear slide 3-1 is arranged at the front end of the main support plate 1 along the width direction of the main support plate 1, the side support seat 3-2 is arranged on the slide 3-1-1 of the first linear slide 3-1, and the side support seat 3-2 is provided with a self-rotating saw blade 3-3.

[0068] The bottom-mounted reciprocating grabbing and leaf-removing member 4 includes a second linear slide 4-1 and a second automatic opening and closing grabbing member. The second linear slide 4-1 is arranged at the bottom of the main support plate 1 along the length direction of the strip notch 7. The second automatic opening and closing grabbing member is penetrated at the strip notch 7. The bottom of the second automatic opening and closing grabbing member is connected to the slide of the second linear slide 4-1. The second automatic opening and closing grabbing member reciprocates along the length direction of the strip notch 7 driven by the second linear slide 4-1.

[0069] The second self-controlled opening and closing grasping member includes a second biaxial servo 4-2, a second support plate 4-3 and two second grasping claws 4-4. The second support plate 4-3 is arranged on the slide of the second linear slide 4-1. The second biaxial servo 4-2 is arranged on the second support plate 4-3. A second grasping claw 4-4 is arranged on each output shaft of the second biaxial servo 4-2. One end of each second grasping claw 4-4 is hinged on the output shaft of the second biaxial servo 4-2. The two second grasping claws 4-4 are meshed with each other. The inner side of each second grasping claw 4-4 is a blade side 4-5. The two second grasping claws 4-4 are driven by the second linear slide 4-1 to make a reciprocating movement along the length direction of the strip notch 7. The two second grasping claws 4-4 are driven by the second biaxial servo 4-2 to make an opening or closing action.

[0070] In this embodiment, the structural form of the second grabbing claw piece 4-4 is basically the same as the structural form of the first grabbing claw piece. The only difference is that the arc piece 27-2 is replaced by an arc-shaped claw 41, and the inner side of the arc-shaped claw 41 is the blade side 4-5, so that the leaves on the outer circumference of the lettuce can be removed by holding the outer wall of the lettuce in an arc shape and cutting in a circumferential manner.

[0071] Combination Figure 3 , Figure 4 , Figure 8 and Fig.16 As shown, in this embodiment, the second self-controlled opening and closing gripping member can realize the leaf pulling and leaf removing actions under different diameter conditions. The leaf pulling and leaf removing principle is based on the external structure of the lettuce, and the arc of the gripping is controlled to include two layers of gripping structure:

[0072] The first layer is: the hinged position between the connecting rod 27-1 and the arc-shaped claw 41 in the second grabbing claw piece 4-4 is equipped with a torsion spring; the second layer is the position where the two connecting rods 27-1 are meshed, and the rotation angle is controlled by the second dual-axis steering gear 4-2. Through the double-layer clamping, the blade side 4-5 of the arc-shaped claw 41 can expand or close to cut the multi-layer leaves on the outer circumferential epidermis of the lettuce as needed, so as to realize the process of pulling the leaves from the thick end to the thin end of the lettuce. And the direction of the leaf removal operation is to go against the growth direction of the lettuce leaves, which is more conducive to realizing the accurate, fast and thorough leaf removal and leaf pulling process.

[0073] Among them, the continuous harvesting low vehicle for long-stem and leafy crops also includes a terminal storage rack 9, which is a rectangular frame. The terminal storage rack 9 includes two flat short rods 9-1 and two long plates 9-2. The two flat short rods 9-1 are horizontally arranged in parallel along the length direction of the strip notch 7, and the length direction of the flat short rods 9-1 is in the same direction as the width direction of the strip notch 7. Two long plates 9-2 are vertically arranged in parallel between the two flat short rods 9-1, and the length direction of the long plates 9-2 is in the same direction as the length direction of the strip notch 7. The two ends of each long plate 9-2 are fixedly connected to the two flat short rods 9-1 respectively.

[0074] Among them, the continuous harvesting low vehicle for long-stem and leafy crops also includes a rotating shifting member 8, which is arranged between the root placement rack 5 and the head placement rack 6. The rotating shifting member 8 includes a driving motor 8-1 and a toggle rod 8-2. The driving motor 8-1 is arranged close to the head placement rack 6, and the driving motor 8-1 is fixedly connected to the main support plate 1. One end of the toggle rod 8-2 is hinged on the output shaft of the driving motor 8-1. A notch 8-2-1 is processed on the toggle rod 8-2. When the toggle rod 8-2 is driven by the driving motor 8-1 to rotate to between the root placement rack 5 and the head placement rack 6, the toggle rod 8-2 is in a supporting use state, and the notch 8-2-1 is set upward; when the toggle rod 8-2 is driven by the driving motor 8-1 to rotate to the top of the terminal storage rack 9, the toggle rod 8-2 is in a released use state, and the notch 8-2-1 is set downward.

[0075] The structure, composition and connection relationship of the continuous harvesting low vehicle for long-stem and leafy crops not mentioned in this embodiment are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth or tenth embodiments.

Claims

1. A low-profile vehicle for continuous harvesting of long-stemmed and leafy crops, characterized in that: The invention comprises a main support plate (1), a horizontal and vertical conversion grabbing assembly (2), a cutting assembly (3), a bottom-mounted reciprocating grabbing and leaf removing member (4), a root placement frame (5) and a head placement frame (6), wherein the main support plate (1) is arranged horizontally, one end of the main support plate (1) is processed with a strip notch (7) along its thickness direction, the length direction of the strip notch (7) is in the same direction as the length direction of the main support plate (1), one end of the strip notch (7) is a crop entry end, a cutting assembly (3) is arranged on the bottom surface of the main support plate (1), the cutting assembly (3) is arranged close to the crop entry end of the strip notch (7), the horizontal and vertical conversion grabbing assembly (2) is arranged horizontally on the main support plate (1), the horizontal and vertical conversion grabbing assembly (2) is arranged towards the crop entry end of the strip notch (7), and the horizontal and vertical conversion grabbing assembly (2) is arranged horizontally on the main support plate (1). The longitudinal conversion grabbing assembly (2) is arranged with its grabbing direction facing the strip notch (7); the root placement frame (5) and the head placement frame (6) are both arranged on the main support plate (1); the root placement frame (5) and the head placement frame (6) are arranged at both ends of the strip notch (7) in sequence along the length direction of the strip notch (7); the root placement frame (5) is arranged close to the transverse and longitudinal conversion grabbing assembly (2); the head placement frame (6) is arranged away from the transverse and longitudinal conversion grabbing assembly (2); a bottom-mounted reciprocating grabbing and leaf-removing member (4) is arranged between the root placement frame (5) and the head placement frame (6); the bottom of the bottom-mounted reciprocating grabbing and leaf-removing member (4) is arranged on the main support plate (1); and the bottom-mounted reciprocating grabbing and leaf-removing member (4) makes a reciprocating motion along the length direction of the strip notch (7); The transverse and longitudinal conversion grabbing assembly (2) comprises a main transmission shaft (2-1), a driving member (2-2), a rear support seat (2-3), a front support seat (2-4) and a first automatic opening and closing grabbing member, wherein the front support seat (2-4) and the rear support seat (2-3) are arranged horizontally in parallel, the main transmission shaft (2-1) is horizontally passed through the front support seat (2-4) and the rear support seat (2-3), the driving member (2-2) is sleeved on the main transmission shaft (2-1), and the driving member (2-2) is sleeved on the main transmission shaft (2-1). The moving member (2-2) reciprocates along the length direction of the main transmission shaft (2-1); the driving member (2-2) is provided with a first self-controlled opening and closing grabbing member, the first self-controlled opening and closing grabbing member comprises a first double-axis steering gear (2-5), a first support plate (2-6) and two first grabbing claws (2-7); the output shaft of the driving member (2-2) is connected to one side of the first support plate (2-6), and the other side of the first support plate (2-6) is provided with the first double-axis steering gear (2-5). 5), each output shaft of the first dual-axis steering gear (2-5) is provided with a first grab claw piece (2-7), one end of each first grab claw piece (2-7) is a connecting end (2-7-1), the other end of each first grab claw piece (2-7) is an opening and closing end (2-7-2), the connecting end of each first grab claw piece (2-7) is hinged on an output shaft of the first dual-axis steering gear (2-5), and the two connecting ends (2- The two first grab claws (2-7) are meshed with each other, the two opening and closing ends (2-7-2) of the two first grab claws (2-7) are arranged toward the strip-shaped notch (7), the two first grab claws (2-7) are driven by the driving member (2-2) to make horizontal reciprocating movement and / or flipping movement along the length direction of the main transmission shaft (2-1), and the two opening and closing ends (2-7-2) of the two first grab claws (2-7) are driven by the first dual-axis steering gear (2-5) to make an opening or closing movement; The horizontal and vertical conversion grabbing assembly (2) further comprises a stepping motor (2-8), a motor bracket (2-9), a coupling (2-10), a guide rail (2-11) and a supporting slider (2-12); the main transmission shaft (2-1) is provided with a stepping motor (2-8), a motor bracket (2-9) and a coupling (2-10); the motor bracket (2-9) is provided with a stepping motor (2-8); an output shaft of the stepping motor (2-8) is connected to the main transmission shaft (2-1) via the coupling (2-10); -1); a guide rail (2-11) is arranged between the front support seat (2-4) and the rear support seat (2-3); the guide rail (2-11) is located directly below the main transmission shaft (2-1); a support slider (2-12) is sleeved on the guide rail (2-11); the support slider (2-12) reciprocates along the length direction of the guide rail; the top end of the support slider (2-12) is connected to the bottom of the driving member (2-2); the driving member (2-2) drives the support slider (2-12) to make synchronous reciprocating motion; The cutting assembly (3) comprises a first linear slide (3-1), a side support seat (3-2) and a self-rotating saw blade (3-3); the first linear slide (3-1) is arranged at the front end of the main support plate (1) along the width direction of the main support plate (1); the side support seat (3-2) is arranged on the slide (3-1-1) of the first linear slide (3-1); and the side support seat (3-2) is provided with a self-rotating saw blade (3-3); The bottom-mounted reciprocating grabbing and leaf-removing member (4) comprises a second linear slide (4-1) and a second automatic opening and closing grabbing member, the second linear slide (4-1) being arranged at the bottom of the main support plate (1) along the length direction of the strip notch (7), the second automatic opening and closing grabbing member being passed through the strip notch (7), the bottom of the second automatic opening and closing grabbing member being connected to the slide of the second linear slide (4-1), and the second automatic opening and closing grabbing member being driven by the second linear slide (4-1) to reciprocate along the length direction of the strip notch (7); The second self-controlled opening and closing grabbing member comprises a second double-axis steering gear (4-2), a second support plate (4-3) and two second grabbing claws (4-4); the second support plate (4-3) is arranged on the slide of the second linear slide (4-1); the second double-axis steering gear (4-2) is arranged on the second support plate (4-3); each output shaft of the second double-axis steering gear (4-2) is matched with a second grabbing claw (4-4); one of each second grabbing claw (4-4) The end is hinged on the output shaft of the second double-axis steering gear (4-2), the two second grab claw pieces (4-4) are meshed with each other, the inner side of each second grab claw piece (4-4) is a blade side (4-5), the two second grab claw pieces (4-4) are driven by the second linear slide (4-1) to make reciprocating movements along the length direction of the strip notch (7), and the two second grab claw pieces (4-4) are driven by the second double-axis steering gear (4-2) to make opening or closing movements.

2. A low-profile vehicle for continuous harvesting of long-stem and leafy crops according to claim 1, characterized in that: The root placement frame (5) and the head placement frame (6) are both U-shaped frames, and a strip placement groove (5-1) is processed on the top of one side of the root placement frame (5) facing the head placement frame (6).

3. A low-profile vehicle for continuous harvesting of long-stem and leafy crops according to claim 2, characterized in that: The terminal storage rack (9) is a rectangular frame. The terminal storage rack (9) comprises two short flat rods (9-1) and two long plates (9-2). The two short flat rods (9-1) are arranged horizontally in parallel along the length direction of the strip-shaped notch (7). The length direction of the short flat rods (9-1) is in the same direction as the width direction of the strip-shaped notch (7). Two long plates (9-2) are arranged vertically in parallel between the two short flat rods (9-1). The length direction of the long plates (9-2) is in the same direction as the length direction of the strip-shaped notch (7). The two ends of each long plate (9-2) are respectively fixedly connected to the two short flat rods (9-1).

4. A low-profile vehicle for continuous harvesting of long-stem and leafy crops according to claim 3, characterized in that: The invention also comprises a rotating displacement member (8), wherein the rotating displacement member (8) is arranged between the root placement frame (5) and the head placement frame (6), and the rotating displacement member (8) comprises a driving motor (8-1) and a toggle rod (8-2), wherein the driving motor (8-1) is arranged close to the head placement frame (6), the driving motor (8-1) is fixedly connected to the main support plate (1), one end of the toggle rod (8-2) is hinged to the output shaft of the driving motor (8-1), and a A notch (8-2-1) is provided. When the toggle rod (8-2) is driven by the driving motor (8-1) to rotate between the root placement rack (5) and the head placement rack (6), the toggle rod (8-2) is in a supporting use state, and the notch (8-2-1) is arranged upwards; when the toggle rod (8-2) is driven by the driving motor (8-1) to rotate above the terminal storage rack (9), the toggle rod (8-2) is in a releasing use state, and the notch (8-2-1) is arranged downwards.

5. The continuous harvesting low vehicle for long-stem and leafy crops according to claim 1, characterized in that: Two moving rollers (10) are arranged on each side of the main support plate (1).

6. A continuous harvesting and leaf removal method, implemented by using a continuous harvesting low vehicle for long-stem leafy crops according to any one of claims 1 to 5, characterized in that: The continuous harvesting and leaf removal method is: The cutting operation for long-stem multi-leaf crops is as follows: the main support plate (1) and the cutting assembly (3) are started at a designated starting position, the main support plate (1) is in a forward moving state, and after the first long-stem multi-leaf crop in front of the main support plate (1) enters the strip-shaped notch (7), the horizontal and vertical conversion grabbing assembly (2) is started, and after the first self-controlled opening and closing grabbing member in the horizontal and vertical conversion grabbing assembly (2) moves horizontally close to the first long-stem multi-leaf crop, the two first grabbing claws (2-7) are controlled to grab the first long-stem multi-leaf crop, and the bottom of the first long-stem multi-leaf crop is cut off by the cutting assembly (3); A posture conversion operation: after the bottom of the first long-stem multi-leaf crop is cut off by the cutting assembly (3), the two first grabbing claws (2-7) are driven by the driving member (2-2) to make a flipping motion, and after the two first grabbing claws (2-7) are flipped, the first grabbing claws (2-7) are placed between the root placement frame (5), the rotating displacement member (8) and the head placement frame (6); Axial outer wall leaf removal operation: controlling the bottom-mounted reciprocating grasping and leaf removal element (4) to grasp the first long-stem leafy crop and perform a reciprocating cutting action along the length direction of the first long-stem leafy crop to cut the leaves on the outer circumference of the first long-stem leafy crop; Secondary posture conversion operation: after cutting the leaves on the outer circumference of the first long-stem multi-leaf crop, the first long-stem multi-leaf crop is driven to rotate synchronously to the terminal storage rack (9) by turning the rotating shifting member (8). During the process of removing the leaves and storing the first long-stem multi-leaf crop, the second long-stem multi-leaf crop is continuously removed and stored according to the above-mentioned operation principle, thereby completing the cycle operation process of continuous cutting, primary posture conversion, axial outer wall removal and secondary posture conversion for each long-stem multi-leaf crop, thereby completing the continuous harvesting operation process.

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