A flexible clamping chain-type tobacco upper leaf harvester

Abstract

This invention discloses a flexible clamping chain-type flue-cured tobacco upper leaf harvester, characterized by comprising an integral frame chassis, a clamping and conveying section, a cutting section, a lifting section, a collecting section, a control section, and a power unit. This machine conforms to the agronomical practice of curing flue-cured tobacco with the upper leaves attached to the stem, effectively solving the problems of high labor costs, high labor intensity, low work efficiency, long working hours, and the unsuitability of foreign flue-cured tobacco harvesting machinery for hilly tobacco fields in southern China. This invention relates to the field of agricultural machinery, specifically to a flexible clamping chain-type flue-cured tobacco upper leaf harvester. The technical problem this invention aims to solve is to provide a flexible clamping chain-type flue-cured tobacco upper leaf harvester suitable for harvesting flue-cured tobacco in hilly tobacco fields in southern my country, replacing manual labor in harvesting the upper leaves attached to the stem.

Description

Technical Field

[0001] This invention belongs to the field of agricultural harvesting machinery technology, and relates to a flexible clamping chain-type flue-cured tobacco upper leaf harvester. In particular, it relates to a method that conforms to the flue-cured tobacco upper leaf curing process and solves the problems of difficult harvesting of flue-cured tobacco upper leaves with stems, high labor costs, and low efficiency. Background Technology

[0002] There is an urgent need to replace human and animal labor in all stages of tobacco cultivation. The tobacco industry needs to improve its production methods by implementing mechanized and automated operations in tobacco fields to reduce planting intensity and costs, increase production efficiency, and boost farmers' income. Therefore, it is necessary to design an upper leaf harvesting device that can replace manual harvesting, thereby improving work efficiency and saving labor costs.

[0003] In conclusion, there is an urgent need to develop a flue-cured tobacco upper leaf harvester suitable for small tobacco fields in hilly and mountainous areas. The focus should be on the design of the tobacco clamping and cutting device to meet the agronomical requirements of harvesting upper leaves with stems. This would address the current problems of high labor intensity, low efficiency, and high labor costs in harvesting flue-cured tobacco with upper leaves on stems. Summary of the Invention

[0004] The purpose of this invention is to address the problems of low efficiency, high labor intensity, and high labor costs associated with manual harvesting of the upper leaves of flue-cured tobacco in hilly and mountainous areas of southern China, such as Hunan, where the harvesting process conforms to local curing techniques. The designed flexible clamping chain-type upper leaf harvester can stably clamp tobacco stalks of varying circumferences and heights while minimizing leaf damage. This improves work efficiency, reduces labor costs, and ensures the quality of harvested upper leaves of flue-cured tobacco.

[0005] The present invention achieves its objective by employing the following technical solution:

[0006] A flexible clamping chain-type tobacco upper leaf harvester, characterized in that it comprises:

[0007] It includes the power unit, the machine frame chassis, the control unit, the cutting device, the lifting device, the clamping and conveying device, and the collection platform.

[0008] The power unit is fixedly arranged on the machine frame chassis;

[0009] The control unit is fixedly arranged on the machine frame chassis;

[0010] The cutting device is fixedly connected to the clamping and conveying device, and the cutting device includes a primary cutting device and a secondary cutting device;

[0011] The lifting device is fixedly connected to the machine frame chassis;

[0012] The clamping and conveying device is fixedly connected to the machine frame chassis.

[0013] As a further limitation of this technical solution, the clamping and conveying device includes a collection platform, a worm gear reducer, a drive motor, a clamping and conveying device fixing frame, a flexible clamping chain, a leaf-gathering and supporting device, a fixing frame connecting plate, and a conveying device including an adaptive spacing adjustment device, a clamping and conveying device frame, and frame reinforcing ribs. The clamping and conveying device fixing frame is fixedly connected to the connecting frame of the flexible clamping chain. The drive motor is fixedly connected to the input end of the worm gear reducer, and the output end of the worm gear reducer matches the chain of the flexible clamping chain, enabling controllability. The flexible clamping chain is rotated. The grain-lifting and leaf-gathering device is fixedly connected to the lower end of the connecting frame of the flexible clamping chain. The adaptive adjustment device is fixedly connected to one side of the clamping and conveying device frame. The clamping and conveying device fixing frame connecting plate is fixedly connected to the clamping and conveying device fixing frame. The flexible chain support beam is fixedly connected to the clamping and conveying device fixing frame connecting plate. The clamping and conveying device frame is fixedly connected to the frame reinforcing rib. The collection platform is fixed to the end of the clamping and conveying device frame away from the grain-lifting and leaf-gathering device.

[0014] As a further limitation of this technical solution, the leaf-gathering device includes a mounting plate, a limiting lock, a left side plate, an upper cover plate, a lower base plate, a pin, a bushing, and a right side plate. The mounting plate is fixedly connected to the connecting frame of the flexible clamping chain. One terminal of the limiting lock is fixedly connected to the mounting plate, and the other terminal of the limiting lock is fixedly connected to the rear side of the lower base plate. The left side plate and the right side plate are fixedly connected to both sides of the lower base plate, respectively. The upper side of the left side plate, the lower base plate, and the right side plate is fixedly connected to the edge of the upper cover plate. The bushing is fixedly connected to the front end of the mounting plate, and the bushing is fixed to the rear end of the upper cover plate. The two bushings are rotatably connected by the pin to realize the hinge function between the upper cover plate and the mounting plate.

[0015] As a further limitation of this technical solution, the primary cutting device includes a primary cutting blade mounting beam, a cutting blade, a primary cutting blade shaft, a locking nut, a worm gear reducer, a brushless DC motor, a primary cutting reducer connecting plate, U-bolts, and a primary cutting blade mounting longitudinal beam. The central hole of the cutting blade is passed through by the primary cutting blade shaft, and the primary cutting blade shaft is threadedly connected to the locking nut for locking the cutting blade. The primary cutting blade mounting beam is fixedly connected to the primary cutting blade mounting longitudinal beam and the clamping and conveying device frame. The worm gear reducer is fixedly connected to the primary cutting reducer connecting plate. The central shaft of the brushless DC motor is fixed to the input end of the worm gear reducer, and the output end of the worm gear reducer is fixedly connected to the primary cutting blade shaft.

[0016] As a further limitation of this technical solution, the secondary cutting device includes a secondary cutting blade, a secondary cutting blade shaft, a locking nut, a DC brushless motor, a second worm gear reducer, a secondary cutting reducer mounting beam, and a secondary cutting reducer connecting bending plate. The secondary cutting blade is passed through the secondary cutting blade shaft, and the secondary cutting blade is fixedly connected to the secondary cutting blade shaft by the locking nut. The secondary cutting reducer mounting beam is fixedly connected to the secondary cutting reducer connecting bending plate and the clamping and conveying device frame. The worm gear reducer is fixedly connected to the secondary cutting reducer connecting bending plate. The output shaft of the DC brushless motor is fixedly connected to the input end of the second worm gear reducer, and the output end of the second worm gear reducer is fixedly connected to the secondary cutting blade shaft. The second worm gear reducer is fixedly connected to the secondary cutting reducer connecting bending plate via a connecting plate.

[0017] As a further limitation of this technical solution, the lifting device includes a bearing seat fixing plate, a bottom fixed bearing seat, a trapezoidal lifting nut, a guide bearing, a lifting stepper motor, a trapezoidal lifting screw, a lifting motor reducer fixing plate, a worm gear reducer, a guide bearing fixing plate, a trapezoidal connecting nut, a lifting connecting plate, a bearing seat fixing plate reinforcing rib, and a trapezoidal connecting screw. The lifting device consists of three sets with identical structures. One set of the lifting device is fixed to each side of the front frame of the machine frame chassis, and another set is fixed to the middle of the rear frame of the machine frame chassis. The three sets of lifting devices are arranged in a triangular pattern. The bearing seat fixing plate is fixed... The machine frame chassis is connected to the bottom fixed bearing seat, which is bolted to the bearing seat fixing plate. The bearing seat fixing plate is fixedly connected to the bearing seat fixing plate reinforcing rib. The trapezoidal lifting screw has two optical shafts at both ends, with the lower end rotatably connected to the bottom bearing seat. The upper optical shaft of the trapezoidal lifting screw has a keyway, which is connected to the output end of the worm gear reducer three via a flat key. The input end of the worm gear reducer three is fixedly connected to the output shaft of the lifting stepper motor. The lifting stepper motor is fixedly connected to the machine frame chassis. The worm gear reducer three is fixedly connected to the lifting motor reducer fixing plate via bolts. The speed reducer fixing plate is fixedly connected to the machine frame chassis. The trapezoidal lifting nut is threadedly engaged with the trapezoidal lifting screw. Rotation of the trapezoidal lifting screw causes the trapezoidal lifting nut to move linearly along the screw. The lifting connecting plate is bolted to the trapezoidal lifting nut. A through hole is opened at the other end of the lifting connecting plate. The trapezoidal connecting screw fixes the electric clamping conveyor frame. The trapezoidal connecting screw passes through the through hole at the other end of the lifting connecting plate. The trapezoidal connecting screw is threadedly engaged with the nut. The trapezoidal connecting screw and the lifting connecting plate are locked together by the trapezoidal connecting nut. When the lifting stepper motors of the three lifting devices are driven by the worm gear reducer... When the trapezoidal lifting screw is driven to rotate, the clamping and conveying device frame connected to the trapezoidal lifting nut rises and falls with the linear movement of the trapezoidal lifting nut, realizing the height adjustment function. The guide bearing is installed on the guide bearing fixing plate by bolts and nuts. The guide bearing fixing plate is fixedly connected to the lifting connecting plate. The guide bearing fixing plate has an elongated hole. The bolt fixing the guide bearing passes through the elongated hole and is threadedly connected to the nut. The guide bearing can be made to contact the end face of the overall frame chassis by adjusting the position of the bolt fixing the guide bearing in the elongated hole. The bearing seat fixing plate is fixedly connected to the overall frame chassis by reinforcing ribs.

[0018] As a further limitation of this technical solution, the collection platform fixes the frame of the clamping and conveying device, and the connection strength between the two is strengthened by square steel pipes. The upper leaves of the tobacco stem are transported by the clamping and conveying device and cut by the secondary cutting device, and then fall directly onto this collection platform.

[0019] As a further limitation of this technical solution, the power unit includes two walking motors and two controllers. The two walking motors can control the movement of the overall frame chassis, and the two controllers drive the two walking motors to rotate forward and backward, realizing the harvester's forward, backward, stationary turning and differential turning.

[0020] As a further limitation of this technical solution, the control part includes a main control chip, a power module, and a remote control module. The remote control module is electrically connected to the main control chip. The power part is electrically connected to the main control chip. The cutting device, lifting device, and clamping and conveying device are all electrically connected to the main control chip. The main control chip, power part, cutting device, lifting device, and clamping and conveying device are all electrically connected to the power module, which provides electrical energy. The control chip issues control commands to the power part, cutting device, lifting device, and clamping and conveying device to realize the functions of the harvester's walking and steering and harvesting tobacco leaves.

[0021] The remote control module includes a remote controller and a receiver. The operator manipulates the remote controller, and after the receiver receives the signal from the remote controller, it sends the signal to the main control chip via the serial port using the SBUS protocol. The control chip parses the signal data and then sends the corresponding instructions to the power unit, the cutting device, the lifting device, and the clamping and conveying device.

[0022] The remote control has 17 channels. Channels 1-4 are used to control the speed of the two walking motors, and to control their forward and reverse rotation. Channel 5 is used to control the lifting device to rise or fall. Channel 6 is used to control the start and stop of the clamping and transporting part. Channel 7 is used to control the start and stop of the cutting device.

[0023] Compared with the prior art, the advantages and positive effects of the flexible clamping chain-type flue-cured tobacco upper leaf harvester described above are as follows:

[0024] 1. This machine can adjust the height of the lifting device according to the actual harvesting height requirements of flue-cured tobacco, thereby changing the harvesting height of the clamping and conveying device and the cutting device. A pair of flexible clamping chains of the clamping and conveying device move along the chain track under the drive of the drive motor. The cutting blades of the primary and secondary cutting devices rotate separately. Under the control of the remote control handle, the upper leaf harvester moves along the tobacco planting direction. The entire flue-cured tobacco plant, with the help of the supporting and leaf-gathering device, gathers the drooping tobacco leaves. When the tobacco moves to the feeding inlet of the clamping and conveying device, it is clamped by a pair of flexible clamping chains. The rotating cutting blades cut the lower tobacco stalks, completing the harvesting of the upper leaves with stems. After initial separation of the lower roots, the upper leaves with stems, after being cut, move along the chain conveyor path to the secondary cutting device. Under the secondary cutting blade of the secondary cutting device, the excess tobacco stalks held by the flexible clamping chain are cut off. The upper leaves with stems, after secondary cutting, fall directly to the collection platform at the rear end for collection, while the cut-off excess tobacco stalks fall into the field. By using the working mode of the flexible clamping conveyor chain in conjunction with the cutting device, the harvesting of the upper leaves with stems of flue-cured tobacco can be effectively replaced by manual harvesting. Compared with traditional manual operation, this improves the efficiency of harvesting the upper leaves with stems of flue-cured tobacco, reduces the time spent harvesting in the field, and thus greatly saves labor costs and reduces the labor intensity of farmers.

[0025] 2. The self-propelled triangular track chassis designed and manufactured for this machine can adapt well to the complex field terrain of tobacco fields in the hilly and mountainous areas of southern China through the contour-following floating mechanism, and has good walking performance in both paddy fields and dry land.

[0026] 3. This machine is well adapted to different tobacco field characteristics, different harvesting heights for flue-cured tobacco, and different stem clamping girths for tobacco stalks. By adjusting the corresponding parameters, the harvesting work can be completed with higher quality. Attached Figure Description

[0027] Figure 1 This is a side view of an embodiment of a flexible clamping chain-type tobacco upper leaf harvester according to the present invention.

[0028] Figure 2 This is a front view of an embodiment of a flexible clamping chain-type tobacco upper leaf harvester according to the present invention.

[0029] Figure 3 This is a schematic diagram of the clamping and conveying section in an embodiment of the present invention.

[0030] Figure 4 This is a schematic diagram of the structure of the leaf-gathering device in the embodiment of the invention. Figure 1

[0031] Figure 5 This is a schematic diagram of the structure of the leaf-gathering device in the embodiment of the invention. Figure 2 .

[0032] Figure 6 This is a schematic diagram of the structure of the cutting portion in an embodiment of the invention. Figure 1 .

[0033] Figure 7 This is a schematic diagram of the structure of the cutting portion in an embodiment of the invention. Figure 2 .

[0034] Figure 8 This is a block diagram of the control system in an embodiment of the present invention.

[0035] Figure 9 This is a schematic diagram of the lifting section in an embodiment of the present invention.

[0036] Figure 10 This is a perspective view of an embodiment of the present invention.

[0037] Figure 11 This is a schematic diagram of the cutting position of the tool and the clamping and feeding inlet position in an embodiment of the present invention.

[0038] Figure 12 For the present invention Figure 10 A magnified view of a portion of point A in the middle.

[0039] Figure 13 This is a structural diagram of the flexible clamping chain in an embodiment of the present invention.

[0040] In the diagram: 1. Power unit; 10. Drive motor; 11. Clamping and conveying device fixing frame; 12. Flexible clamping chain; 13. Rice and leaf gathering device; 14. Fixing frame connecting plate; 15. Flexible chain support beam; 16. Clamping and conveying device frame; 17. Frame reinforcing rib; 18. Mounting plate; 19. Limit lock; 2. Frame chassis; 20. Left side plate; 21. Upper cover plate; 22. Lower bottom plate; 23. Pin shaft; 2 4. Bushing; 25. Right side plate; 26. Primary cutting blade mounting beam; 27. Cutting blade; 28. Primary cutting blade shaft; 29. ​​Locking nut; 3. Control section; 30. Worm gear reducer; 31. Brushless DC motor; 32. Connecting plate; 33. U-bolt; 34. Primary cutting blade mounting longitudinal beam; 35. Connecting plate; 36. Secondary cutting blade; 37. Secondary cutting blade shaft; 38. Locking nut; 39. 4. DC brushless motor; 40. Cutting device; 41. Worm gear reducer II; 42. Secondary cutting reducer mounting beam; 43. Secondary cutting reducer connecting bending plate; 44. Bearing seat fixing plate; 45. Bearing seat; 46. Trapezoidal lifting nut; 47. Guide bearing; 48. Lifting stepper motor; 49. Trapezoidal lifting screw; 50. Lifting motor reducer fixing plate; 51. Lifting device; 52. Worm gear reducer III; 53. Guide bearing fixing plate; 54. Nut; 55. Lifting connecting plate; 56. Bearing seat fixing plate reinforcing rib; 57. Trapezoidal connecting screw; 68. Secondary cutting protection and guide plate; 59. Cutting blade guard plate; 60. Clamping and conveying device; 71. Primary cutting device; 8. Collection platform; 9. Worm gear reducer; 51. Front drive head; 52. Mountain-shaped flexible chain link; 63. Rear drive tail; 64. Stainless steel chain guide rail. Detailed Implementation

[0041] The following detailed description of a specific embodiment of the present invention is provided in conjunction with the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0042] like Figure 1 , 2 As shown, the present invention includes a power unit 1, a machine frame chassis 2, a control unit 3, a secondary cutting device 4, a lifting device 5, a clamping and conveying device 6, a primary cutting device 7, and a collection platform 8.

[0043] The power unit 1 is fixedly arranged on the machine frame chassis 2;

[0044] The control unit 3 is fixedly arranged on the machine frame chassis 2;

[0045] The cutting device 4 includes a primary cutting device 7 and a secondary cutting device; the cutting device is fixedly connected to the clamping and conveying device 6.

[0046] The lifting device 5 is fixedly connected to the machine frame chassis 2;

[0047] The clamping and conveying device 6 is fixedly connected to the machine frame chassis 2;

[0048] In this embodiment, the integrated frame chassis 2 consists of a lower section with four sets of triangular tracked chassis driven by two 1.5kW DC motors via reducers and universal drive shafts, and an upper integrated frame. The triangular tracked chassis and the integrated frame are integrated to ensure the overall strength of the machine. The triangular tracked chassis improves road passability and can adapt to the complex terrain and muddy roads in the hilly and mountainous areas of southern China, which are prone to rain. The self-propelled triangular tracked chassis of the integrated frame chassis 2 is a high-clearance chassis, suitable for farmland with high ridges. The chassis is powered by two sets of lead-acid batteries in the power unit, which drive the four sets of triangular tracks on both sides and front and rear via two brushless DC motors and heavy-duty reducers. Compared with other track shapes, the triangular track structure provides a larger ground contact area, increasing friction with the ground and thus providing stronger traction and stability. During movement, the triangular track structure has good self-cleaning properties, effectively removing mud, stones, and other debris from the tracks, reducing the problems of reduced traction and increased energy consumption caused by soil accumulation. The triangular track structure makes it less prone to slipping on irregular terrain, providing better anti-skid performance. This is especially important for machinery operating on muddy or steep slopes. Because the triangular track structure is more robust, it has higher durability under harsh working conditions, able to withstand greater impacts and stresses, reducing track wear and the likelihood of failure, thus extending track lifespan.

[0049] The power unit 1 is divided into two parts: two sets of ten 60V 45Ah lead-acid batteries installed on both sides of the integrated frame chassis 2, and a 7kW range extender generator located on the left rear end of the integrated frame chassis 2. The control unit 3 is located on the right rear end of the integrated frame chassis 2, and its main body is an electrical control cabinet with dimensions of 500mm×350mm×600mm. The electric range extender generator and the electrical control cabinet are installed in the storage box at the rear end of the electric integrated frame chassis 2. The rear end of the frame of the integrated frame chassis 2 is welded with an extension beam and supporting reinforcing ribs. The storage box is welded to the rear extension beam and the rear vertical beam of the frame to increase the connection strength.

[0050] The cutting device 4 and the clamping and conveying device frame 16 are connected by square steel pipes welded to the clamping and conveying device frame 16 and cutting blade connecting plates 32 and 42 with U-bolts 33. The cutting device 4 is divided into a primary cutting device 7 and a secondary cutting device, which are located below the head and outside the tail of the clamping and conveying device 6, respectively, so as to realize the initial separation and precise cutting of the upper leaves of the tobacco stem. The primary cutting device 7 is located below the head of the flexible clamping chain of the clamping and conveying device, which can realize the initial clamping of the tobacco stem to complete the initial cutting action. The secondary cutting device is located outside the tail of the flexible clamping chain, so as to complete the secondary cutting of the excess tobacco stem in the clamped part.

[0051] The clamping and conveying device 6 includes a collection platform 8, a worm gear reducer 9, a drive motor 10, a clamping and conveying device fixing frame 11, a flexible clamping chain 12, a leaf-gathering and leaf-collecting device 13, a fixing frame connecting plate 14, and a conveying device 6 including an adaptive spacing adjustment device 15, a clamping and conveying device frame 16, and frame reinforcing ribs 17. The clamping and conveying device fixing frame 11 is fixedly connected to the connecting frame of the flexible clamping chain 12. The drive motor 10 is fixedly connected to the input end of the worm gear reducer 9, and the output end of the worm gear reducer 9 matches the chain of the flexible clamping chain 12, enabling control of the flexible clamping chain. The chain holding chain 12 rotates, the supporting and gathering device 13 is fixedly connected to the lower end of the connecting frame of the flexible clamping chain 12, the adaptive adjustment device 15 is fixedly connected to one side of the clamping and conveying device frame 16, the clamping and conveying device fixing frame connecting plate 14 is fixedly connected to the clamping and conveying device fixing frame 11, the flexible chain support beam 15 is fixedly connected to the clamping and conveying device fixing frame connecting plate 14, the clamping and conveying device frame 16 is fixedly connected to the frame reinforcing rib 17, and the collection platform 8 is fixed to the end of the clamping and conveying device frame 16 opposite to the supporting and gathering device 13.

[0052] In this embodiment, the flexible clamping chain 12 is composed of a stainless steel chain guide 61, a front drive head 58, a rear drive tail 60, and a mountain-shaped flexible chain link 59. The mountain-shaped flexible chain link 59 is arranged in a closed loop along the path of the stainless steel chain guide 61. Under the power drive, the two flexible clamping chains 12 with the mountain-shaped flexible chain links 59 form a clamping and conveying device 6 to clamp and convey the upper leaves of the tobacco stem.

[0053] Each of the flexible clamping chains 12 is connected to the front drive head 58, the rear drive tail 60 and the stainless steel chain guide rail 61 through a mortise and tenon structure, and is fixed by multiple sets of bolts to achieve the chain trajectory path required for harvesting. A power input shaft and a connecting flange are installed at the rear drive tail. The drive motor 10 and the worm gear reducer 9 are connected to the rear drive tail through the flange to transmit power. The flange connection is fixed by bolts. The power is provided by two sets of ten lead-acid batteries to power the drive motor 10. The clamping and conveying device fixing frame 11 is used to fix and support the entire set of flexible clamping chains 12. Three sets of flexible chain support beams 15 are installed on the clamping and conveying device fixing frame 11. There are multiple bolt mounting holes on the flexible clamping chain guide rail. The fixing frame connecting plate 14 has elongated holes. One end of the clamping and conveying device fixing frame is fixed to the flexible clamping chain guide rail, and the other end is fixed to the connecting plate on the flexible chain support beam 15.

[0054] In this embodiment, in order to reduce the damage to the drooping tobacco leaves when the flexible clamping chain 12 clamps the tobacco rod, a leaf-gathering device 13 is installed at the front end of the flexible clamping chain 12, which cooperates with the feeding inlet of the flexible clamping chain 12.

[0055] The leaf-gathering and leaf-collecting device 13 includes a mounting plate 18, a limiting lock 19, a left side plate 20, an upper cover plate 21, a lower bottom plate 22, a pin 23, a bushing 24, and a right side plate 25. The mounting plate 18 is fixedly connected to the connecting frame of the flexible clamping chain 12. One terminal of the limiting lock 19 is fixedly connected to the mounting plate 18, and the other terminal of the limiting lock 19 is fixedly connected to the rear side of the lower bottom plate 22. The left side plate 20 and the right side plate 25 are fixedly connected to both sides of the lower bottom plate 22, respectively. The upper side of the left side plate 20, the lower bottom plate 22, and the right side plate 25 is fixedly connected to the edge of the upper cover plate 21. The front end of the mounting plate 18 is fixedly connected to the bushing 24, and the tail end of the upper cover plate 21 is fixed to the bushing 24. The two bushings 24 are rotatably connected by the pin 23 to realize the hinge function between the upper cover plate 21 and the mounting plate 18.

[0056] In this embodiment, the mounting plate 18 is connected to the bolt mounting holes on the flexible clamping chain guide rail by bolts, and the upper cover plate 21 is hinged to the mounting plate 18. The main purpose of this is to retract the entire grain lifting and leaf gathering device 13 inward during the process of the machine entering the field, reduce the overall length of the machine, and prevent the grain lifting and leaf gathering device 13 from colliding with the field ridge and causing damage.

[0057] The left side plate 20, the upper cover plate 21, the lower bottom plate 22, and the right side plate 25 together form the main body of the tobacco leaf gathering device 13. The whole body extends downward and outward, which can effectively guide misaligned tobacco stalks into the feeding position of the flexible clamping chain 12 and make the drooping tobacco leaves move forward in the machine and be lifted upward and inward along the shape of the main body of the tobacco leaf gathering device 13 until they are fed into the inlet through the flexible clamping chain 12.

[0058] The primary cutting device 7 includes a primary cutting blade mounting beam 26, a cutting blade 27, a primary cutting blade shaft 28, a locking nut 29, a worm gear reducer 30, a brushless DC motor 31, a primary cutting reducer connecting plate 32, U-bolts 33, and a primary cutting blade mounting longitudinal beam 34. The center hole of the cutting blade 27 is passed through by the primary cutting blade shaft 28, and the primary cutting blade shaft 28 is threadedly connected to the locking nut 29 to lock the cutting blade 27. The primary cutting blade mounting beam 26 is fixedly connected to the primary cutting blade mounting longitudinal beam 34 and the clamping and conveying device frame 16. The worm gear reducer 30 is fixedly connected to the primary cutting reducer connecting plate 32. The central shaft of the brushless DC motor 31 is fixed to the input end of the worm gear reducer 30, and the output end of the worm gear reducer 30 is fixedly connected to the primary cutting blade shaft 28.

[0059] The primary cutting blade mounting beam 34 of the cutting blade 27 is welded to the clamping and conveying device fixing frame 11. The size of the cutting blade 27 needs to be such that the cutting position of the blade and the position of the clamping and conveying feeding inlet are basically aligned to achieve synchronous clamping and cutting action.

[0060] The primary cutting blade mounting beam 26 is welded to the primary cutting blade mounting longitudinal beam 34. The primary cutting reducer connecting plate 32 is fixed to the cutting blade mounting beam 26 by U-bolts 33. The cutting position can be changed by moving the position of the U-bolts 33 left and right.

[0061] The primary cutting reducer connecting plate 32 has corresponding reducer mounting holes. The worm gear reducer 30 is fixed to the reducer connecting plate 32 by bolts. The input end of the worm gear reducer 30 is connected to the brushless DC motor 31 through a flange. The output end of the worm gear reducer 30 is installed with the primary cutting cutter shaft 28. The brushless DC motor 31 drives the worm gear reducer 30 to rotate the primary cutting cutter shaft 28 via a key connection.

[0062] The cutting blade 27 is a disc saw blade, which is installed on the cutting disc of the primary cutting blade shaft 28. In order to ensure that the blade will not loosen due to long-term rotation, the cutting blade 27 rotates clockwise from top to bottom. A reverse thread is machined on the upper end of the primary cutting blade shaft 28 and tightened by locking round nut 29. Cutting blade guard plates 57 are fixed on the left and right sides of the cutting blade mounting beam 26 to ensure safety during operation.

[0063] The secondary cutting device includes a secondary cutting blade 36, a secondary cutting blade shaft 37, a locking nut 38, a DC brushless motor 39, a worm gear reducer 40, a secondary cutting reducer mounting beam 41, a secondary cutting reducer connecting bending plate 42, and a secondary cutting protection and guide plate 56. The secondary cutting blade 36 is passed through the secondary cutting blade shaft 37, and the secondary cutting blade 36 is fixedly connected to the secondary cutting blade shaft 37 by the locking nut 38. The secondary cutting reducer mounting beam 41 is fixedly connected to... The secondary cutting reducer is connected to the bending plate 42. The mounting beam 41 of the secondary cutting reducer is fixedly connected to the clamping and conveying device frame 16. The worm gear reducer 40 is fixedly connected to the bending plate 42 of the secondary cutting reducer. The output shaft of the DC brushless motor 39 is fixedly connected to the input end of the second worm gear reducer 40. The output end of the second worm gear reducer 40 is fixedly connected to the secondary cutting cutter shaft 37. The second worm gear reducer 40 is fixedly connected to the bending plate 42 of the secondary cutting reducer through the connecting plate 35.

[0064] The secondary cutting reducer mounting beam 41 is welded to the flexible conveying device frame 16 and welded to the secondary cutting reducer connecting bending plate 42. The secondary cutting reducer connecting bending plate 42 is bolted to fix the worm gear reducer 40. The DC brushless motor 39 shaft is connected to the input shaft hole of the worm gear reducer 40 through a flat key. The DC brushless motor 39 drives the worm gear reducer 40, thereby causing the secondary cutting blade shaft 37, which is connected to the output shaft hole through a key, to rotate. The secondary cutting blade 36 is mounted on the blade disc of the secondary cutting blade shaft 37 and is pressed and locked by the locking nut 38.

[0065] Unlike the primary cutting device 7, the secondary cutting device is located outside the flexible clamping chain 12. Its purpose is to cut off the excess tobacco stems held by the flexible clamping chain 12. These tobacco stems are discharged into the field via the secondary cutting protection and guide plate 56 connected to the collection platform 8.

[0066] The lifting device 5 includes a bearing seat fixing plate 43, a bottom fixed bearing seat 44, a trapezoidal lifting nut 45, a guide bearing 46, a lifting stepper motor 47, a trapezoidal lifting screw 48, a lifting motor reducer fixing plate 49, a worm gear reducer 50, a guide bearing fixing plate 51, a trapezoidal connecting nut 52, a lifting connecting plate 53, a bearing seat fixing plate reinforcing rib 54, and a trapezoidal connecting screw 55. There are three sets of lifting devices 5 with identical structures. One set of lifting devices 5 is fixed to each side of the front frame of the machine frame chassis 2, and another set is fixed to the middle of the rear frame of the machine frame chassis 2. The three sets of lifting devices 5 are arranged in a... The machine is arranged in a triangular configuration. The bearing seat fixing plate 43 is fixedly connected to the machine frame chassis 2. The bottom fixed bearing seat 44 is bolted to the bearing seat fixing plate 43. The bearing seat fixing plate 43 is fixedly connected to the bearing seat fixing plate reinforcing rib 54. The trapezoidal lifting screw 48 has two optical shafts at both ends, with its lower end rotatably connected to the bottom bearing seat 44. The upper optical shaft of the trapezoidal lifting screw 48 has a keyway, which is connected to the output end of the worm gear reducer 3 50 via a flat key. The input end of the worm gear reducer 3 50 is fixedly connected to the output shaft of the lifting stepper motor 47. The lifting stepper motor 47 is fixedly connected to the machine frame chassis 22.The worm gear reducer 50 is fixedly connected to the lifting motor reducer fixing plate 49 by bolts. The lifting motor reducer fixing plate 49 is fixedly connected to the machine frame chassis 2. The trapezoidal lifting nut 45 is threaded into the trapezoidal lifting screw 48. The rotation of the trapezoidal lifting screw 48 causes the trapezoidal lifting nut 45 to move linearly along the trapezoidal lifting screw 48. The lifting connecting plate 53 is bolted to the trapezoidal lifting nut 52. The other end of the lifting connecting plate 53 has a through hole for locking with the trapezoidal connecting nut 52. The trapezoidal connecting screw 55 is connected to the lifting connecting plate 53. When the lifting stepper motors 47 of the three sets of lifting devices 5 drive the trapezoidal lifting screw 48 to rotate through the worm gear reducer 50, the clamping and conveying device frame 16 connected to the trapezoidal lifting nut 45 rises and falls with the linear movement of the trapezoidal lifting nut 45, realizing the height adjustment function. The guide bearing 46 is installed on the guide bearing fixing plate 51. The other end of the lifting connecting plate 53 has a through hole. The trapezoidal connecting screw 55 fixes the electric clamping and conveying device frame 16. The trapezoidal connecting screw 55 passes through the through hole at the other end of the lifting connecting plate 53. The trapezoidal connecting screw 55 is threaded into the nut 52. The trapezoidal connecting screw 55 and the lifting connecting plate 53 are locked together by the trapezoidal connecting nut 52. When the lifting stepper motors 47 of the three sets of lifting devices 5 drive the trapezoidal lifting screw 48 to rotate through the worm gear reducer 50, the clamping and conveying device frame 16 connected to the trapezoidal lifting nut 45 rises and falls with the linear movement of the trapezoidal lifting nut 45, thereby achieving height adjustment. Functionally, the guide bearing 46 is mounted on the guide bearing fixing plate 51 by bolts and nuts. The guide bearing fixing plate 51 is fixedly connected to the lifting connecting plate 53. The guide bearing fixing plate 51 has an elongated hole, through which the bolts fixing the guide bearing 46 pass and are threadedly connected to the nut. The position of the bolts fixing the guide bearing 46 within the elongated hole can be adjusted so that the guide bearing 46 contacts the end face of the overall frame chassis 2. The bearing seat fixing plate reinforcing rib 54 is fixedly connected to the overall frame chassis 2.

[0067] In this embodiment, each set of lifting devices 5 is horizontally connected to the clamping and conveying device frame 16 where the clamping and conveying device 6 is located. Specifically, the connection method is that the three T28 screws welded to the clamping and conveying device pass through the through holes of the lifting connecting plate 53 and are locked by the connecting nuts. The three lifting devices move simultaneously, thereby driving the clamping and conveying device 6 to complete the overall rising and falling action. The clamping and conveying device 6 is arranged in the center on the chassis of the overall frame 2 to ensure that the walking path is the same as the harvesting trajectory and there is no deviation.

[0068] The collection platform 8 fixes the clamping and conveying device frame 16, and the connection between the two is strengthened by square steel pipes. The upper leaves of the tobacco stem are transported by the clamping and conveying device 6 and cut by the secondary cutting device, and then fall directly onto the collection platform 8.

[0069] The power unit 1 includes two walking motors and two controllers. The two walking motors can control the movement of the overall frame chassis 2. The two controllers receive instructions from the main control chip to drive the two walking motors to rotate forward and backward, realizing the harvester's forward, backward, stationary turning and differential turning. The two walking motors are DC brushless motors with a power of 1500W, a maximum speed of 3200r / min, and a rated torque of 4N. After passing through a 32:1 reducer, the torque reaches 128N, which meets the requirements for use.

[0070] The control unit 3 includes a main control chip, a power module, and a remote control module. The remote control module is electrically connected to the main control chip. The power unit 1 is electrically connected to the main control chip. The cutting device 4, the lifting device 5, and the clamping and conveying device 6 are all electrically connected to the main control chip. The main control chip, the power unit 1, the cutting device 4, the lifting device 5, and the clamping and conveying device 6 are all electrically connected to the power module, which provides electrical energy. The control chip sends control commands to the power unit 1, the cutting device 4, the lifting device 5, and the clamping and conveying device 6 to realize the functions of the harvester's walking and turning and harvesting tobacco leaves.

[0071] In this embodiment, the main control chip is Wildfire STM32F103VET6, and the power module is a 60V lead-acid battery, which consists of two sets of five batteries connected in parallel.

[0072] The remote control module includes a remote controller and a receiver. The operator manipulates the remote controller, and after the receiver receives the signal from the remote controller, it sends the signal to the main control chip via the serial port using the SBUS protocol. The control chip parses the signal data and then sends the corresponding instructions to the power unit 1, the cutting device 4, the lifting device 5, and the clamping and conveying device 6.

[0073] The remote control has 17 channels. Channels 1-4 are used to control the speed of the two walking motors, and to control their forward and reverse rotation. Channel 5 is used to control the lifting device 5 to rise or fall. Channel 6 is used to control the start and stop of the clamping and transporting part. Channel 7 is used to control the start and stop of the cutting device 4.

[0074] In this implementation, the remote control module is selected as a model aircraft remote controller, model AT9S PRO. This remote controller receiver has 16 channels, which can meet the control of various components of the harvester.

[0075] The lifting device 5 includes three stepper motor drivers. The control chip sends PWM pulses to the three stepper motor drivers simultaneously, thereby controlling the three lifting stepper motors 47 to rotate. The three lifting stepper motors 47 rotate simultaneously, driving the trapezoidal lifting screw 48 to rotate, thereby realizing the lifting or lowering of the cutting machine frame platform. The maximum output torque of the lifting stepper motor 47 is 8.5N, and the shaft diameter is 14mm.

[0076] The clamping and transporting device 6 includes two stepper motor drivers. The drive motor 10 is a stepper motor. The control chip sends PWM pulses to both drivers simultaneously, thereby controlling the rotation of the two drive motors 10. The two drive motors 10 rotate relative to each other, driving the clamping and conveying chain 12 to rotate, thereby realizing the transport of tobacco stems. The maximum output torque of the drive motor 10 is 12N, and the shaft diameter is 14mm.

[0077] The formula for calculating pulse frequency is:

[0078]

[0079] In the formula: The input clock frequency is 72MHz;

[0080] The pre-frequency division factor is dimensionless.

[0081] For automatic reload value

[0082] The formula for stepper motor speed is:

[0083]

[0084] In the formula: Step angle, in degrees;

[0085] For subdivision multiples, dimensionless;

[0086] In this embodiment, the pre-division factor of the lifting stepper motor 47 of the lifting device 5 is set to 18, the automatic reload value is 999, the microstepping factor of the motor driver is 2, and the calculated pulse frequency is 4000HZ and the motor speed is 300r / min.

[0087] The pre-frequency division factor of the drive motor 10 of the clamping and transporting device 6 is set to 36, the automatic reloading value is 1799, the motor driver microstepping multiple is 2, and the calculated pulse frequency is 1111HZ, the motor speed is 166r / min.

[0088] The cutting device 4 includes a brushless DC motor, a brushless DC motor, and two controllers. The control chip sends a 0-5V analog signal to the two controllers, thereby controlling the rotation of the brushless DC motor and the brushless DC motor to achieve two cuts on the tobacco stalk.

[0089] The motor power of the cutting device is 850W.

[0090] To ensure stable operation of the machine in the harsh environment of tobacco fields, especially for the control system which has high environmental requirements, this system features a closed control box. The stepper motor driver, DC brushless controller, main control chip, and peripheral circuits, which are easily affected by the working environment, are also integrated into the control box. The reasonable layout of the circuits in the control box overcomes interference. The control box is made of aluminum and is equipped with a cooling fan to meet the system's heat dissipation requirements. The control box is placed at the rear of the harvester, in a relatively good working environment, reducing environmental interference and damage to the system, and ensuring that the tobacco harvester can work continuously and stably in complex environments.

[0091] In use, first turn on the power supply located on both sides of the overall frame chassis 2, turn on the air switch connecting the power unit 1, cutting device 4, clamping and conveying device 6, and lifting device 5 in the control box, and control the start, stop, and adjustment parameters of each part through the remote control handle. First, adjust the height of the lifting device 5 according to the actual harvesting height requirements of the flue-cured tobacco to change the harvesting height of the clamping and conveying device 6 and the cutting device 4. After adjusting to the appropriate height, start the clamping and conveying device 6. The pair of flexible clamping chains 12 of the clamping and conveying device 6 move along the chain arrangement track under the drive of the drive motor 10. Start the cutting device 4. The primary cutting device 7 and the cutting blades 27 and 36 of the secondary cutting device rotate respectively. Under the control of the handle, the upper leaf harvester of flue-cured tobacco moves along the direction of tobacco planting. The whole flue-cured tobacco plant first gathers the drooping tobacco leaves under the action of the leaf gathering device 13. When the flue-cured tobacco moves to the feeding inlet of the clamping and conveying device 6, it is clamped by a pair of clamping and conveying flexible clamping chains 12. The cutting blade 27 rotates and cuts the lower tobacco stalk, completing the initial separation of the upper leaves with stem and the lower root. The upper leaves with stem after cutting move along the chain conveying path to the secondary cutting device. Under the cutting of the secondary cutting blade 36 of the secondary cutting device, the excess tobacco stalk held by the flexible clamping chain 12 is cut off. The upper leaves with stem after secondary cutting fall directly onto the collection platform 8 at the rear end for collection. The cut excess tobacco stalk falls into the field, and the whole working process ends.

[0092] The above-disclosed embodiments are merely specific examples of the present invention. However, the present invention is not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A flexible clamping chain-type tobacco upper leaf harvesting machine, characterized in that, include: Power unit (1), machine frame chassis (2), control unit (3), cutting device (4), lifting device (5), clamping and conveying device (6). The power unit (1) is fixedly arranged on the chassis (2) of the whole machine frame; The control unit (3) is fixedly arranged on the chassis (2) of the whole machine frame; The cutting device (4) is fixedly connected to the clamping and conveying device (6), and the cutting device (4) includes a primary cutting device (7) and a secondary cutting device; The lifting device (5) is fixedly connected to the machine frame chassis (2); The clamping and conveying device (6) is fixedly connected to the machine frame chassis (2); The clamping and conveying device (6) includes a collection platform (8), a worm gear reducer (9), a drive motor (10), a clamping and conveying device fixing frame (11), a flexible clamping chain (12), a grain-lifting and leaf-gathering device (13), a fixing frame connecting plate (14), an adaptive spacing adjustment device, a clamping and conveying device frame (16), and a frame reinforcing rib (17). The clamping and conveying device fixing frame (11) is fixedly connected to the connecting frame of the flexible clamping chain (12). The drive motor (10) is fixedly connected to the input end of the worm gear reducer (9). The output end of the worm gear reducer (9) matches the chain of the flexible clamping chain (12) and can control the rotation of the chain of the flexible clamping chain (12). The grain-lifting and leaf-gathering device (13) is fixedly connected to the flexible clamping chain (8). The flexible chain (12) is connected to the lower end of the connecting frame. The adaptive spacing adjustment device is fixedly connected to one side of the clamping and conveying device frame (16). The clamping and conveying device fixing frame connecting plate (14) is fixedly connected to the clamping and conveying device fixing frame (11). The flexible chain support beam is fixedly connected to the clamping and conveying device fixing frame connecting plate (14). The clamping and conveying device frame (16) is fixedly connected to the frame reinforcing rib (17). The collection platform (8) is fixed at one end of the clamping and conveying device frame (16) away from the supporting and gathering device (13). The flexible clamping chain (12) includes a horizontal section, a first vertical section, and a second vertical section when viewed from the side. The horizontal section and the first vertical section are connected by an arc. The first vertical section and the second vertical section are connected by an arc. The leaf-gathering and leaf-collecting device (13) includes a mounting plate (18), a limiting lock (19), a left side plate (20), an upper cover plate (21), a lower bottom plate (22), a pin (23), a bushing (24), and a right side plate (25). The mounting plate (18) is fixedly connected to the connecting frame of the flexible clamping chain (12). One terminal of the limiting lock (19) is fixedly connected to the mounting plate (18), and the other terminal of the limiting lock (19) is fixedly connected to the rear side of the lower bottom plate (22). The two sides of the lower bottom plate (22) are respectively fixedly connected to... The upper edge of the upper cover plate (21) is fixedly connected to the left side plate (20) and the right side plate (25). The front end of the mounting plate (18) is fixedly connected to the bushing (24), and the tail end of the upper cover plate (21) is fixedly connected to the bushing (24). The two bushings (24) are rotatably connected by the pin (23) to realize the hinge function between the upper cover plate (21) and the mounting plate (18), which can retract the leaf-gathering device (13) inward.

2. The flexible clamping chain-type flue-cured tobacco upper leaf harvester according to claim 1, characterized in that... The primary cutting device (7) includes a primary cutting blade mounting beam (26), a cutting blade (27), a primary cutting blade shaft (28), a locking nut (29), a worm gear reducer (30), a brushless DC motor (31), a primary cutting reducer connecting plate (32), a U-bolt (33), and a primary cutting blade mounting longitudinal beam (34). The center hole of the cutting blade (27) is passed through the primary cutting blade shaft (28), and the primary cutting blade shaft (28) is threadedly connected to the locking nut (29) for locking the blade. The cutting blade (27) is fixedly connected to the primary cutting blade mounting beam (26) and the primary cutting blade mounting longitudinal beam (34). The primary cutting blade mounting beam (26) is fixedly connected to the clamping and conveying device frame (16). The worm gear reducer (30) is fixedly connected to the primary cutting reducer connecting plate (32). The central shaft of the brushless DC motor (31) is fixed to the input end of the worm gear reducer (30). The output end of the worm gear reducer (30) is fixedly connected to the primary cutting blade shaft (28).

3. The flexible clamping chain-type flue-cured tobacco upper leaf harvester according to claim 1, characterized in that: The secondary cutting device includes a secondary cutting blade (36), a secondary cutting blade shaft (37), a locking nut (38), a DC brushless motor (39), a worm gear reducer (40), a secondary cutting reducer mounting beam (41), and a secondary cutting reducer connecting bending plate (42). The secondary cutting blade (36) is passed through the secondary cutting blade shaft (37), and the secondary cutting blade (36) is fixedly connected to the secondary cutting blade shaft (37) by the locking nut (38). The secondary cutting reducer mounting beam (41) is fixedly connected to the secondary cutting reducer connecting bending plate (42). Plate (42), the secondary cutting reducer mounting beam (41) is fixedly connected to the clamping and conveying device frame (16), the worm gear reducer II (40) is fixedly connected to the secondary cutting reducer connecting bending plate (42), the output shaft of the DC brushless motor (39) is fixedly connected to the input end of the worm gear reducer II (40), the output end of the worm gear reducer II (40) is fixedly connected to the secondary cutting cutter shaft (37), and the worm gear reducer II (40) is fixedly connected to the secondary cutting reducer connecting bending plate (42) through the connecting plate (35).

4. The flexible clamping chain-type tobacco upper leaf harvester according to claim 1, characterized in that: The lifting device (5) includes a bearing seat fixing plate (43), a bottom fixed bearing seat (44), a trapezoidal lifting nut (45), a guide bearing (46), a lifting stepper motor (47), a trapezoidal lifting screw (48), a lifting motor reducer fixing plate (49), a worm gear reducer (50), a guide bearing fixing plate (51), a trapezoidal connecting nut (52), a lifting connecting plate (53), a bearing seat fixing plate reinforcing rib (54), and a trapezoidal connecting screw (55). The lifting device (5) consists of three sets with identical structures. One set of the lifting device (5) is fixed on each side of the front frame of the machine frame chassis (2), and another set of the lifting device (5) is fixed in the middle of the rear frame of the machine frame chassis (2). The three sets of lifting devices... The bearing housing (5) is arranged in a triangular shape. The bearing housing fixing plate (43) is fixedly connected to the machine frame chassis (2). The bottom fixed bearing housing (44) is bolted to the bearing housing fixing plate (43). The bearing housing fixing plate (43) is fixedly connected to the bearing housing fixing plate reinforcing rib (54). The trapezoidal lifting screw (48) has optical shafts at both ends and its lower end is rotatably connected to the bottom fixed bearing housing (44). The upper optical shaft of the trapezoidal lifting screw (48) has a keyway and is connected to the output end of the worm gear reducer (50) by a flat key. The input end of the worm gear reducer (50) is fixedly connected to the output shaft of the lifting stepper motor (47). The lifting stepper motor (47) is fixedly connected to the machine frame chassis (2).The worm gear reducer (50) is fixedly connected to the lifting motor reducer fixing plate (49) by bolts. The lifting motor reducer fixing plate (49) is fixedly connected to the machine frame chassis (2). The trapezoidal lifting nut (45) is threadedly engaged with the trapezoidal lifting screw (48). The rotation of the trapezoidal lifting screw (48) causes the trapezoidal lifting nut (45) to move linearly along the trapezoidal lifting screw (48). The lifting connecting plate (53) is bolted to the trapezoidal lifting nut (45). The other end of the lifting connecting plate (53) has a through hole. The trapezoidal connecting screw (55) is fixedly clamped to the conveying device frame (16). The trapezoidal connecting screw (55) passes through the through hole at the other end of the lifting connecting plate (53). The trapezoidal connecting screw (55) is threadedly engaged with the trapezoidal connecting nut (52). The trapezoidal connecting screw (55) and the lifting connecting plate (53) are connected by the trapezoidal connecting nut (52). Locked, when the lifting stepper motors (47) of the three sets of lifting devices (5) drive the trapezoidal lifting screw (48) to rotate through the worm gear reducer (50), the clamping and conveying device frame (16) connected to the trapezoidal lifting nut (45) rises and falls with the linear movement of the trapezoidal lifting nut (45), realizing the height adjustment function. The guide bearing (46) is installed on the guide bearing fixing plate (51) by bolts and nuts. The guide bearing fixing plate (51) is fixedly connected to the lifting connecting plate (53). The guide bearing fixing plate (51) has a long hole. The bolts fixed to the guide bearing (46) pass through the long hole and are threadedly connected to the nut. The guide bearing (46) can be made to contact the end face of the whole machine frame chassis (2) by adjusting the position of the bolts fixed to the guide bearing (46) in the long hole. The bearing seat fixing plate reinforcing rib (54) is fixedly connected to the whole machine frame chassis (2).

5. The flexible clamping chain-type tobacco upper leaf harvester according to claim 1, characterized in that: The collection platform (8) fixes the clamping and conveying device frame (16), and the connection strength between the two is strengthened by square steel pipe. The upper leaves of the tobacco stem are transported by the clamping and conveying device (6) and cut by the secondary cutting device and fall directly onto this collection platform (8).

6. The flexible clamping chain-type flue-cured tobacco upper leaf harvester according to claim 1, characterized in that: The power unit (1) includes two walking motors and two controllers. The two walking motors can control the movement of the machine frame chassis (2). The two controllers drive the two walking motors to rotate forward and backward, so as to realize the harvester's forward, backward, stationary turning and differential turning.

7. The flexible clamping chain-type flue-cured tobacco upper leaf harvester according to claim 1, characterized in that: The control unit (3) includes a main control chip, a power module and a remote control module. The remote control module is electrically connected to the main control chip. The power unit (1) is electrically connected to the main control chip. The cutting device (4), the lifting device (5) and the clamping and conveying device (6) are all electrically connected to the main control chip. The main control chip, the power unit (1), the cutting device (4), the lifting device (5) and the clamping and conveying device (6) are all electrically connected to the power module, which provides power. The main control chip sends control commands to the power unit (1), the cutting device (4), the lifting device (5) and the clamping and conveying device (6) to realize the functions of the harvester's walking and turning and harvesting tobacco leaves. The remote control module includes a remote controller and a receiver. The operator manipulates the remote controller, and the receiver receives the signal from the remote controller and sends the signal to the main control chip via the serial port using the SBUS protocol. The main control chip parses the signal data and then sends the corresponding instructions to the power unit (1), the cutting device (4), the lifting device (5), and the clamping and conveying device (6).

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