A side-hanging type Chinese cabbage harvester and a control method thereof

Abstract

The present application provides a kind of side suspension type Chinese cabbage harvester and control method thereof, including frame assembly, righting guide device, root clamping device, pulling mechanism assembly, lifting conveying device, root cutting device and control module;Righting guide device, root clamping device, pulling mechanism assembly, lifting conveying device, root cutting device and control module are respectively installed on frame assembly, righting guide device is located at the front end of root clamping device;Root cutting device is located at the rear end of root clamping device, pulling mechanism assembly is located at the front end of lifting conveying device, lifting conveying device is located above root clamping device;Righting guide device righting Chinese cabbage, pulling mechanism assembly cooperates with lifting conveying device to pull Chinese cabbage, lifting conveying device and root clamping device double clamp Chinese cabbage, and root cutting device completes root cutting.The present application improves the adaptability of Chinese cabbage harvester, meets the harvesting of different varieties, different size Chinese cabbage, and reduces the damage of Chinese cabbage harvesting.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of agricultural machinery, and particularly relates to a side-hanging Chinese cabbage harvester and a control method thereof. BACKGROUND

[0002] Chinese cabbage is originally from China and has rich nutritional value and is widely planted across the country. In recent years, the planting area of Chinese cabbage in China has been stable at 1.8X10 6 hm 2 square kilometers, with North China and the area south of the Yangtze River as the main production areas. According to relevant agricultural data, the harvesting operation during vegetable planting accounts for 40% of the entire operation. Due to the low overall level of mechanization of vegetable production in China, the harvesting of Chinese cabbage is still mainly completed by manual chopping, which is time-consuming and labor-intensive. If harvesting is not timely in winter, it is easy to cause freezing injury, rotting and other situations, affecting subsequent storage and consumption. The mechanized production and harvesting method of vegetables in China is increasingly valued by the country, and relevant scientific research institutions have begun to research the harvesting machine of cabbages, especially the harvesting machine of Chinese cabbage. Patent CN117378352A provides a self-propelled Chinese cabbage harvester with a pulling mechanism, a clamping lifting device and a cutting device. The upper and lower clamping mechanisms are provided, and the pulling device is provided to assist in pulling out the Chinese cabbage. The root cutting is completed under the clamping of the upper and lower clamping mechanisms. However, at least the following problems exist:

[0003] 1. The pulling device is designed in a single manner and cannot be replaced by different size devices according to the harvesting requirements of different varieties and different sizes of Chinese cabbage;

[0004] 2. The harvesting machine lacks a mechanism for adjusting the posture of Chinese cabbage, which can easily cause damage to the Chinese cabbage during root cutting. SUMMARY

[0005] In view of the above technical problems, the present application provides a side-hanging Chinese cabbage harvester and a control method thereof, which improves the adaptability of the Chinese cabbage harvester and can meet the harvesting requirements of different varieties and different sizes of Chinese cabbage, and reduces the damage to the Chinese cabbage during harvesting.

[0006] Note that the recitation of these objects does not preclude the existence of additional objects. One mode of the present application does not necessarily achieve all the above-mentioned objects. The objects other than the above-mentioned objects can be extracted from the recitations of the specification, drawings and claims.

[0007] The present application achieves the above technical objects through the following technical means.

[0008] A side-hanging Chinese cabbage harvester, comprising a frame assembly, a righting guide device, a root clamping device, a pulling mechanism assembly, a lifting and conveying device, a root cutting device and a control module.

[0009] The righting guide device, the root clamping device, the pulling mechanism assembly, the lifting conveying device, the root cutting device and the control module are respectively installed on the rack assembly; the righting guide device is located at the front end of the root clamping device; the root cutting device is located at the rear end of the root clamping device, the pulling mechanism assembly is located at the front end of the lifting conveying device, and the lifting conveying device is located above the root clamping device; the righting guide device is used for righting Chinese cabbage, the pulling mechanism assembly cooperates with the lifting conveying device to pull Chinese cabbage, the lifting conveying device and the root clamping device are used for double clamping Chinese cabbage, and the root cutting device is used for completing root cutting; the control module is connected with the pulling mechanism assembly, the lifting conveying device and the root cutting device.

[0010] In the above scheme, an image acquisition module is further included; the control module is connected with the image acquisition module;

[0011] The image acquisition module is used for shooting a picture of Chinese cabbage clamped by the conveying belt and transmitting the picture to the control module; when the control module judges the posture of Chinese cabbage to be inclined according to the picture, the speed of the lifting conveying device is controlled, so that the posture of Chinese cabbage is changed until the posture of Chinese cabbage is straightened.

[0012] In the above scheme, the rack assembly includes a first connecting frame, a second connecting frame and a three-point suspension device;

[0013] The three-point suspension device is used for being connected with a three-point suspension device of a tractor through a pin shaft, the second connecting frame is installed on the three-point suspension device, the first connecting frame is installed above the second connecting frame, and the front end of the first connecting frame is arranged downwardly and inclined and forms an included angle with the plane where the three-point suspension device is located.

[0014] Further, the first connecting frame forms an installation included angle of 15-20° with the plane where the three-point suspension device is located, and preferably, the installation included angle is 20°.

[0015] In the above scheme, the righting guide device includes symmetrically arranged dividers; the dividers are installed at one end of a divider mounting plate, the other end of the divider mounting plate is provided with a long-shaped through slot arranged transversely; the other end of the divider mounting plate is installed on the root clamping device through cooperation of a bolt and the long-shaped through slot, the front and rear installation positions of the righting guide device can be changed through the long-shaped through slot, and the divider mounting plate can rotate around the bolt to change the opening size between the two dividers.

[0016] In the above scheme, the pulling mechanism assembly includes two symmetrically arranged pulling mechanisms; the pulling mechanisms are respectively located at the front end of the lifting conveying device;

[0017] Each pulling mechanism comprises a spring, a Y-shaped pulling device and a mounting plate; the Y-shaped pulling device is mounted on the rack assembly, one end of the spring is connected with the rear end of the Y-shaped pulling device, and the other end is mounted on the rack assembly through the mounting plate; the spring is used for tensioning the Y-shaped pulling device so that the Y-shaped pulling device returns to the initial position after pulling the Chinese cabbage each time;

[0018] The Y-shaped pulling device comprises rollers, rotating shafts, Y-shaped mounting plates and pulling shafts; the rotating shafts are respectively mounted on the two sides of the front end of the Y-shaped mounting plate, and the pulling shafts are arranged at the rear end of the Y-shaped mounting plate; the rollers are respectively mounted on the pulling shafts, the rollers are in contact with the conveying belts at the front end of the lifting conveying device, the two Y-shaped mounting plates are oppositely arranged, and the middle of the two sides of the front end of the Y-shaped mounting plate is a groove.

[0019] In the above scheme, the lifting conveying device comprises two lifting conveying mechanisms which are arranged symmetrically left and right;

[0020] Each lifting conveying mechanism comprises a conveying device assembly, conveying belts and right-angle speed reduction motors; the conveying device assembly is mounted on the rack assembly, the conveying belts and the right-angle speed reduction motors are mounted on the conveying device assembly, and the two conveying belts are mounted symmetrically left and right and are mounted obliquely upward from front to back; the two conveying belts have a channel for the Chinese cabbage to pass through, and the right-angle speed reduction motors drive the conveying belts to work, so that the Chinese cabbage is lifted and conveyed backward from the channel;

[0021] The pair of conveying belts in the lifting conveying device are respectively controlled by two right-angle speed reduction motors, and the right-angle speed reduction motors are connected with a control module

[0022] In the above scheme, the root clamping device comprises two root clamping mechanisms which are arranged symmetrically left and right;

[0023] Each root clamping mechanism comprises a triangular belt, a mounting plate and a root clamping assembly; the root clamping assembly is mounted on the mounting plate; the mounting plate is mounted on the rack assembly, and the triangular belt is mounted on the root clamping assembly;

[0024] The root clamping assembly is provided with a plurality of tensioning root clamping arms and a root clamping rack, one end of the tensioning root clamping arm is mounted on the root clamping rack, the root clamping rack is mounted on the mounting plate, the other end of the tensioning root clamping arm is provided with a pulley, the pulley is in contact with the inner side of the triangular belt, and the two symmetrically arranged triangular belts clamp the root of the Chinese cabbage under the action of the tensioning root clamping arm.

[0025] In the above scheme, the root cutting device comprises a root cutting mechanism mounting plate, a cutting knife and a root cutting rack assembly;

[0026] The cutting knife is installed on a root cutting machine frame assembly, the root cutting machine frame assembly is installed on a root cutting mechanism mounting plate, a vertical long slot is arranged on the root cutting mechanism mounting plate, and the root cutting mechanism mounting plate is installed on the frame assembly through cooperation of bolts and the long slot. By changing the position of the bolt in the long slot, the installation position of the root cutting mechanism mounting plate on the first connecting frame can be changed, so that the up-down cutting position of the cutting knife is changed.

[0027] A control method of the side-hanging Chinese cabbage harvester comprises the following steps:

[0028] The righting guide rightens the Chinese cabbage, and the pulling mechanism assembly pulls the Chinese cabbage. In the pulling process, the openings of the Y-shaped pulling devices first face forward, the Chinese cabbage enters the groove space between the two Y-shaped pulling devices, and the front end of the Chinese cabbage starts to contact the conveying belt and is clamped by the Y-shaped pulling devices in cooperation with the conveying belt as the harvester advances and the lifting conveying device conveys backward. As the harvester continues to advance, the openings of the Y-shaped pulling devices face backward, and the pulling of the Chinese cabbage is completed. The pulled Chinese cabbage is conveyed backward, the root clamping device clamps the root of the Chinese cabbage through a pair of tensioned V-belts, and the root cutting device cuts the root under the double clamping of the lifting conveying device and the root clamping device.

[0029] The above scheme further comprises the following steps:

[0030] In the process of harvesting Chinese cabbage, the image acquisition module shoots a picture of the Chinese cabbage clamped by the conveying belt and transmits the picture to the control module. When the control module determines that the posture of the Chinese cabbage is inclined according to the picture, the control module controls the rotating speed of the right-angle speed reducer motor of the lifting conveying device, so that the conveying belt adjusts the clamping posture of the Chinese cabbage.

[0031] Compared with the prior art, the present application has the following advantages:

[0032] 1. The Y-shaped pulling device cooperates with the conveying belt to pull the Chinese cabbage, the groove between the two Y-shaped pulling devices can better adapt to the shape of the Chinese cabbage, the cooperation with the conveying belt can greatly increase the contact area with the Chinese cabbage, reduce the damage caused by clamping, and obtain greater pulling force.

[0033] 2. The Y-shaped pulling device uses a modular design method, different sizes of Y-shaped pulling devices can be replaced, the opening size and the front and rear installation position of the righting guide can be adjusted, and the position of the root cutting device can be adjusted up and down, so that the harvesting demand of Chinese cabbage of different varieties and different sizes can be met.

[0034] 3. The image acquisition module of this invention is used to take pictures of Chinese cabbage being held by a conveyor belt and transmit them to the control module. When the control module detects that the Chinese cabbage is tilted, it controls the rotation speed of the left and right conveyor belts to change the posture of the Chinese cabbage, thereby improving the root cutting qualification rate and reducing the cutting damage of the Chinese cabbage.

[0035] 4. With the cabbage being held by both the lifting and conveying device and the root clamping device, the root cutting device completes the root cutting, ensuring stable root cutting and reducing deviation. Furthermore, the contact point between the root clamping device and the cabbage root can serve as a fulcrum, which is beneficial for the lifting and conveying device to adjust the posture of the cabbage.

[0036] 5. The root cutting device of the present invention has an adjustable vertical mounting position on the root cutting frame assembly, and can flexibly adjust the position of the cutting blade to the optimal cutting area when dealing with different varieties and sizes of Chinese cabbage.

[0037] 6. The cabbage harvester of this invention features a side-mounted design, which simplifies the mechanism, reduces design and purchase costs, and facilitates further promotion.

[0038] 7. The cabbage harvester of this invention is a pure electric design, which is more environmentally friendly.

[0039] Note that the description of these effects does not preclude the existence of other effects. One aspect of the invention does not necessarily have all the aforementioned effects. Effects other than those described above can be readily observed and extracted from the description, drawings, claims, etc. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of a side-suspended Chinese cabbage harvester according to one embodiment of the present invention.

[0041] Figure 2 This is a schematic diagram of the rack assembly structure according to one embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of the harvest portion according to an embodiment of the present invention.

[0043] Figure 4 This is a schematic diagram of the straightening and guiding device according to an embodiment of the present invention.

[0044] Figure 5 This is a partial schematic diagram of the connection between the straightening guide device and the clamping root assembly according to an embodiment of the present invention.

[0045] Figure 6 This is a schematic diagram of the structure of two straightening and guiding devices according to one embodiment of the present invention.

[0046] Figure 7 This is a schematic diagram of the structure of the Y-shaped extraction device at the front end of the lifting and conveying device according to an embodiment of the present invention.

[0047] Figure 8 is a schematic diagram of the structure of a Y-shaped pulling device according to an embodiment of the present application. Figure 9 is a schematic diagram of the process of pulling Chinese cabbage by a Y-shaped pulling device according to an embodiment of the present application.

[0048] Figure 10 is a schematic diagram of the structure of a lifting and conveying device according to an embodiment of the present application. Figure 11 is a schematic diagram of the structure of a root clamping device according to an embodiment of the present application.

[0049] Figure 12 is a schematic diagram of the installation position of a root cutting device according to an embodiment of the present application.

[0050] Figure 13 is a schematic diagram of the structure of a root cutting device according to an embodiment of the present application.

[0051] Figure 14 is a schematic diagram of the structure of a root cutting device according to an embodiment of the present application.

[0052] wherein: 1, frame assembly; 1-1, industrial camera module; 1-2, first connecting frame; 1-3, second connecting frame; 1-4, three-point suspension device; 2, righting and guiding device; 2-1, divider; 2-2, divider mounting plate; 3, root clamping device; 3-1, V-belt; 3-2, mounting plate; 3-3, root clamping assembly; 4, pulling mechanism assembly; 4-1, spring; 4-2, Y-shaped pulling device; 4-2-1, roller; 4-2-2, rotating shaft; 4-2-3, Y-shaped mounting plate; 4-2-4, pulling shaft; 4-3, mounting piece; 5, lifting and conveying device; 5-1, conveying device assembly; 5-1-1, tensioning and clamping arm assembly; 5-1-2, driving wheel mounting seat; 5-1-3, spring mounting shaft; 5-1-4, spring limiting piece; 5-1-5, driven wheel; 5-1-6, driving wheel; 5-2, conveying belt; 5-3, right-angle speed reducer motor; 6, root cutting device; 6-1, root cutting mechanism mounting plate; 6-2, cutting knife; 6-3, root cutting frame assembly; 7, Chinese cabbage; 8, battery; 9, collection frame. DETAILED DESCRIPTION

[0053] Embodiments of the present application are described in detail below with reference to the attached drawings, wherein the same or similar components have the same or similar designations throughout the various figures. The embodiments described below are exemplary and intended to explain the present application, and are not to be understood as limiting the present application.

[0054] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0055] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0056] Figure 1 The side-hung Chinese cabbage harvester shown is a preferred embodiment of the side-hung Chinese cabbage harvester, which comprises a frame assembly 1, a righting guide device 2, a root clamping device 3, a pulling mechanism assembly 4, a lifting conveying device 5, a root cutting device 6, an image acquisition module, a control module, a battery 8 and a collection frame 9;

[0057] The righting guide device 2, the root clamping device 3, the pulling mechanism assembly 4, the lifting conveying device 5, the root cutting device 6, the image acquisition module and the control module are respectively mounted on the frame assembly 1; the righting guide device 2 is located at the front end of the root clamping device 3; the root cutting device 6 is located at the rear end of the root clamping device 3, the pulling mechanism assembly 4 is located at the front end of the lifting conveying device 5, and the lifting conveying device 5 is located above the root clamping device 3; the righting guide device 2 is used to right the inclined Chinese cabbage, the pulling mechanism assembly 4 cooperates with the conveying belt 5-2 of the lifting conveying device 5 to pull the Chinese cabbage, the root clamping device 3 clamps the root of the Chinese cabbage through a pair of tensioned V-belts 3-1, the lifting conveying device 5 and the root clamping device 3 are used to clamp the Chinese cabbage twice, the root cutting device 6 is used to complete the root cutting, and the Chinese cabbage is sent into the collection frame 9.

[0058] The battery 8 is connected with the pulling mechanism assembly 4, the lifting conveying device 5, the root cutting device 6, the image acquisition module and the control module respectively to provide power supply; the side-hanging Chinese cabbage harvester is designed to be purely electric, and is more environmentally friendly.

[0059] The control module is connected with the image acquisition module, the pulling mechanism assembly 4, the lifting conveying device 5 and the root cutting device 6 respectively.

[0060] The image acquisition module is used for shooting the picture of the Chinese cabbage 7 clamped by the conveying belt and transmitting the picture to the control module; when the control module judges the posture of the Chinese cabbage 7 according to the picture, the speed of the lifting conveying device 5 is controlled to change the posture of the Chinese cabbage 7 until the posture of the Chinese cabbage 7 is straightened, so that the root cutting qualified rate is improved and the cutting damage of the Chinese cabbage 7 is reduced.

[0061] As shown in the figure, Figure 2 The rack assembly 1 comprises a first connecting frame 1-2, a second connecting frame 1-3 and a three-point suspension device 1-4.

[0062] The three-point suspension device 1-4 is used for being connected with the three-point suspension device of a tractor through a pin shaft; the second connecting frame 1-3 is installed on the three-point suspension device 1-4; the first connecting frame 1-2 is installed above the second connecting frame 1-3; the front end of the first connecting frame 1-2 is arranged to be inclined downward and forms an angle with the plane where the three-point suspension device 1-4 is located. The installation angle between the first connecting frame 1-2 and the plane where the three-point suspension device 1-4 is located is 15-20°, preferably 20°. The second connecting frame 1-3 is used for installing subsequent drivers, switching power supplies, circuit breakers, voltage reduction modules and other control components.

[0063] Preferably, the image acquisition module is an industrial camera module 1-1; the industrial camera module 1-1 is installed on the first connecting frame 1-2; the industrial camera module 1-1 is connected with the control module; the industrial camera module 1-1 transmits the picture of the Chinese cabbage 7 clamped by the conveying belt to the control module.

[0064] As shown in the figure, Figures 4-6 The righting guide device 2 comprises symmetrically arranged furrow dividers 2-1; the furrow dividers 2-1 are installed on one end of a furrow divider mounting plate 2-2; the other end of the furrow divider mounting plate 2-2 is provided with a long-shaped through slot arranged transversely; the other end of the furrow divider mounting plate 2-2 is installed on a root clamping assembly 3-3 of the root clamping device 3 through cooperation of a bolt and the long-shaped through slot; the front and rear installation positions of the righting guide device 2 can be changed through the long-shaped through slot; the furrow divider mounting plate 2-2 can rotate around the bolt to change the opening size between the two furrow dividers 2-1, so as to adapt to the harvesting requirements of different planting agricultural Chinese cabbages 7 in terms of row spacing and plant spacing.

[0065] As shown in the figure, Figures 7-8As shown, the pulling mechanism assembly 4 includes two symmetrically arranged pulling mechanisms; the pulling mechanisms are respectively installed at the front end of the lifting conveying device 5;

[0066] Each pulling mechanism includes a spring 4-1, a Y-shaped pulling device 4-2, and a mounting plate 4-3; the Y-shaped pulling device 4-2 is installed on the first connecting frame 1-2 of the rack assembly 1, one end of the spring 4-1 is connected with the rear end of the Y-shaped pulling device 4-2, and the other end is installed on the first connecting frame 1-2 through the mounting plate 4-3; the spring 4-1 is used for tensioning the Y-shaped pulling device 4-2, so that the Y-shaped pulling device 4-2 returns to the initial position after each pulling of the Chinese cabbage 7;

[0067] The Y-shaped pulling device 4-2 includes a roller 4-2-1, a rotating shaft 4-2-2, a Y-shaped mounting plate 4-2-3, and a pulling shaft 4-2-4; the rotating shaft 4-2-2 is respectively installed at the two sides of the front end of the Y-shaped mounting plate 4-2-3, and the pulling shaft 4-2-4 is arranged at the rear end of the Y-shaped mounting plate 4-2-3; the roller 4-2-1 is respectively installed on the pulling shaft 4-2-4, the roller 4-2-1 is in contact with the conveying belt at the front end of the lifting conveying device 5, the two Y-shaped mounting plates 4-2-3 are oppositely arranged, and the middle of the two sides of the front end of the Y-shaped mounting plate 4-2-3 is a groove, which can better match the shape of the Chinese cabbage and obtain a larger contact area, thereby reducing the damage caused by clamping.

[0068] As shown in the drawing, Figure 9 During the pulling process, the opening of the Y-shaped pulling device 4-2 first moves forward, the Chinese cabbage 7 enters the groove space between the two Y-shaped pulling devices 4-2, and as the harvester advances and the lifting conveying device 5 conveys backward, the front end of the Chinese cabbage 7 starts to contact the conveying belt 5-2 and is clamped by the Y-shaped pulling device 4-2 cooperating with the conveying belt 5-2; as the harvester continues to advance, the pair of Y-shaped pulling devices 4-2 are opposite to each other, at this time, the deformation amount of the conveying belt 5-2 and the contact area with the Chinese cabbage 7 reach the maximum, at this time, the Y-shaped pulling device 4-2 cooperates with the conveying belt 5-2 to pull up the Chinese cabbage; as the harvester continues to advance, the opening of the Y-shaped pulling device 4-2 moves backward, and the pulling of the Chinese cabbage 7 is completed.

[0069] The Y-shaped pulling device 4-2 uses a modular design method, and three pairs of Y-shaped pulling devices 4-2 with different sizes can be processed. When used, different sizes of Y-shaped pulling devices 4-2 are selected according to the variety of harvested Chinese cabbage, so as to adapt to the harvesting needs of Chinese cabbages of different varieties and different sizes.

[0070] As shown in the drawing, Figure 10 The lifting conveying device 5 includes two lifting conveying mechanisms, and the two lifting conveying mechanisms are arranged symmetrically left and right;

[0071] Each lifting conveying mechanism comprises a conveying device assembly 5-1, a conveying belt 5-2, and a right-angle speed reducer 5-3; the conveying device assembly 5-1 is installed on the first connecting frame 1-2, the conveying belt 5-2 and the right-angle speed reducer 5-3 are installed on the conveying device assembly 5-1, and the two conveying belts 5-2 are installed symmetrically left and right and obliquely upward from front to back; the two conveying belts 5-2 have a passage for Chinese cabbage to pass through, and the right-angle speed reducer 5-3 drives the conveying belt 5-2 to work, so that the Chinese cabbage is lifted and conveyed backward from the passage;

[0072] The pair of conveying belts 5-2 in the lifting conveying device 5 are respectively controlled by two right-angle speed reducers 5-3, the right-angle speed reducers 5-3 are connected with a control module, and the control module adjusts the rotating speed of a single right-angle speed reducer 5-3 to adjust the clamping posture of the Chinese cabbage 7 by the conveying belt 5-2.

[0073] The conveying device assembly 5-1 comprises a tensioning and clamping arm assembly 5-1-1, a driving wheel mounting seat 5-1-2, a spring mounting shaft 5-1-3, a spring limiting piece 5-1-4, a driven wheel 5-1-5, and a driving wheel 5-1-6;

[0074] The driving wheel 5-1-6 is installed on the driving wheel mounting seat 5-1-2, the tensioning and clamping arm assembly 5-1-1 and the driving wheel mounting seat 5-1-2 are respectively installed on the first connecting frame 1-2 of the rack assembly 1 by bolts, the driven wheel 5-1-5 is installed on the first connecting frame 1-2, the conveying belt 5-2 is installed on the driven wheel 5-1-5 and the driving wheel 5-1-6, the two tensioning and clamping arm assemblies 5-1-1 are oppositely arranged and respectively in contact with the conveying belt 5-2, the spring limiting piece 5-1-4 is installed on the spring mounting shaft 5-1-3, the spring mounting shaft 5-1-3 is connected with the first connecting frame 1-2, one end of the spring is connected with the tensioning and clamping arm assembly 5-1-1, and the other end is connected with the spring limiting piece 5-1-4, the installation position of the spring limiting piece 5-1-4 on the spring mounting shaft 5-1-3 is changed, the pre-tightening force of the tensioning and clamping arm assembly 5-1-1 on the conveying belt 5-2 is changed, and thus different sizes of Chinese cabbage are adapted.

[0075] As shown in Figure 11 The root clamping device 3 comprises two root clamping mechanisms arranged symmetrically left and right;

[0076] The root clamping device 3 comprises two root clamping mechanisms arranged symmetrically left and right;

[0077] Each root clamping mechanism comprises a V-belt 3-1, a mounting plate 3-2, and a root clamping assembly 3-3; the root clamping assembly 3-3 is installed on the mounting plate 3-2; the mounting plate 3-2 is installed on the rack assembly 1, and the V-belt 3-1 is installed on the root clamping assembly 3-3;

[0078] The root clamping assembly 3-3 is provided with a plurality of tensioning root clamping arms and a root clamping frame, one end of the tensioning root clamping arm is installed on the root clamping frame, the root clamping frame is installed on the mounting plate 3-2, the other end of the tensioning root clamping arm is provided with a pulley, the pulley is in contact with the inner side of the triangular belt 3-1, two symmetrically arranged triangular belts 3-1 clamp the root of the Chinese cabbage under the action of the tensioning root clamping arm, under the double clamping of the lifting conveying device 5 and the root clamping device 3, the root cutting device 6 completes the root cutting, the root cutting is stable, the deviation is reduced, and the root clamping device 3 clamps the root with a fulcrum, which is beneficial to the adjustment of the posture of the Chinese cabbage by the lifting conveying device 5.

[0079] As shown in Figures 12-14 The root cutting device 6 includes a root cutting mechanism mounting plate 6-1, a cutting knife 6-2 and a root cutting frame assembly 6-3.

[0080] The cutting knife 6-2 is installed on the root cutting frame assembly 6-3, the root cutting frame assembly 6-3 is installed on the root cutting mechanism mounting plate 6-1, the root cutting mechanism mounting plate 6-1 is provided with a vertical long slot, and is installed on the first connecting frame 1-2 through cooperation of a bolt and the long slot; by changing the position of the bolt in the long slot, the installation position of the root cutting mechanism mounting plate 6-1 on the first connecting frame 1-2 can be changed, so that the up-down cutting position of the cutting knife 6-2 is changed, and when facing different varieties and different sizes of Chinese cabbage, the position of the cutting knife can be flexibly adjusted to the best cutting area, so as to adapt to the harvesting of different varieties and different sizes of Chinese cabbage.

[0081] The side-hanging type Chinese cabbage harvester of the embodiment is designed in a side-hanging type, and needs to be hung on the three-point suspension mechanism of a tractor during work. Before formally carrying out the Chinese cabbage harvesting operation, the three-point suspension device of the tractor needs to be adjusted first so that the lower bottom surface of the righting guide device 2 is in contact with the ground; according to the variety and size of the harvested Chinese cabbage, the opening size of the righting guide device 2 and the up-down cutting position of the root cutting device 6 are adjusted.

[0082] When formally carrying out the Chinese cabbage harvesting operation, the tractor drives the whole machine to walk forward, the righting guide device 2 pulls the deviated Chinese cabbage to the middle, along with the continuous advancement of the machine, the Y-shaped pulling device 4-2 cooperates with the conveying belt 5-2 to pull up the Chinese cabbage 7 and convey it backward, and then a pair of triangular belts 3-1 tightly clamp the root part of the Chinese cabbage 7, so that the root part of the Chinese cabbage 7 is tightly attached to the limiting guide rod 3-4, and the root cutting is completed by the root cutting device 6 under the double clamping of the conveying belt 5-2 and the triangular belt 3-1.

[0083] Preferably, the triangular belt 3-1 is about two centimeters wide, clamps the root, and does not affect the adjustment of the posture of the Chinese cabbage by the conveying belt 5-2.

[0084] The cabbage is pulled by the Y-shaped pulling device 4-2 matched with the conveying belt 5-2, the groove between the Y-shaped pulling device 4-2 can better adapt to the shape of the cabbage, and the conveying belt 5-2 can greatly increase the contact area with the cabbage, reduce the damage caused by clamping, and obtain greater pulling force.

[0085] The Y-shaped pulling device 4-2 uses a modular design method, different sizes of Y-shaped pulling devices 4-2 can be replaced, the opening size and the front and rear mounting position of the righting guide device 2 can be adjusted, and the position of the root cutting device 6 can be adjusted up and down, so that the harvesting demand of different varieties and different sizes of cabbages can be met.

[0086] The cabbage harvester is designed as a side-hanging type, the mechanism is simple, a common 50-horsepower tractor can be used, the design cost and purchase cost are reduced, and the further popularization is beneficial.

[0087] A control method of the side-hanging type cabbage harvester, comprising the following steps:

[0088] The righting guide device 2 righting the inclined cabbage, the pulling mechanism assembly 4 cooperating with the conveying belt 5-2 of the lifting conveying device 5 to pull the cabbage, the root clamping device 3 clamping the root of the cabbage through a pair of tensioning V-belts 3-1, and the root cutting device 6 completing the root cutting under the double clamping of the lifting conveying device 5 and the root clamping device 3.

[0089] In the process of harvesting the cabbage, the image acquisition module is used to shoot the picture of the cabbage 7 clamped by the conveying belt 5-2 and transmit it to the control module, the control module obtains the feature information of the cabbage in the conveying belt 5-2 after image processing of the collected picture, and compares the cabbage data set in different postures to classify the posture of the cabbage; when it is judged that the posture of the cabbage 7 is inclined, the motor motion control algorithm in the control module matches the rotating speed of the two right-angle speed reducers 5-3 of the conveying device 5, so as to change the posture of the cabbage 7, and feedback adjustment is performed through the image acquisition module until the posture of the cabbage 7 is right; when it is judged that the posture of the cabbage is normal, the control module controls the conveying belt 5-2 to keep constant speed.

[0090] Specifically, the control method of the side-hanging type cabbage harvester, comprising the following steps:

[0091] The righting guide device 2 righting Chinese cabbage, the pulling mechanism assembly 4 pulls Chinese cabbage, in the pulling process, the opening of the Y-shaped pulling device 4-2 first goes forward, the Chinese cabbage 7 enters the groove space between the two Y-shaped pulling devices 4-2, with the forward movement of the harvester and the backward conveying of the lifting conveying device 5, the front end of the Chinese cabbage 7 begins to contact with the conveying belt 5-2 and is clamped by the Y-shaped pulling device 4-2 cooperating with the conveying belt 5-2; with the continuous forward movement of the harvester, a pair of Y-shaped pulling devices 4-2 are opposite, at this time, the deformation amount of the conveying belt 5-2 and the contact area with the Chinese cabbage 7 reach the maximum, at this time, the Y-shaped pulling device 4-2 pulls up the Chinese cabbage cooperating with the conveying belt 5-2; with the continuous forward movement of the harvester, the opening of the Y-shaped pulling device 4-2 goes backward, completing the pulling of a Chinese cabbage 7, conveying the pulled Chinese cabbage 7 backward, the root clamping device 3 clamps the root of the Chinese cabbage through a pair of tensioned V-belts 3-1, under the double clamping of the lifting conveying device 5 and the root clamping device 3, the root cutting device 6 completes the root cutting.

[0092] It should be understood that although the present specification is described in terms of various embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

[0093] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present application, and are not used to limit the protection scope of the present application, and equivalent embodiments or changes made without departing from the spirit of the present application should be included in the protection scope of the present application.

Claims

1. A side-hanging type Chinese cabbage harvester, characterized by, The device comprises a rack assembly (1), a righting and guiding device (2), a root clamping device (3), a pulling mechanism assembly (4), a lifting and conveying device (5), a root cutting device (6) and a control module. The righting and guiding device (2), the root clamping device (3), the pulling mechanism assembly (4), the lifting and conveying device (5), the root cutting device (6) and the control module are respectively installed on the rack assembly (1); the righting and guiding device (2) is located at the front end of the root clamping device (3); the root cutting device (6) is located at the rear end of the root clamping device (3); the pulling mechanism assembly (4) is located at the front end of the lifting and conveying device (5); and the lifting and conveying device (5) is located above the root clamping device (3); the righting and guiding device (2) is used for righting Chinese cabbages; the pulling mechanism assembly (4) is used for pulling Chinese cabbages in cooperation with the lifting and conveying device (5); the lifting and conveying device (5) and the root clamping device (3) are used for double clamping Chinese cabbages; and the root cutting device (6) is used for completing root cutting; the control module is connected with the pulling mechanism assembly (4), the lifting and conveying device (5) and the root cutting device (6) respectively. The pulling mechanism assembly (4) comprises two symmetrically arranged pulling mechanisms; and the pulling mechanisms are respectively located at the front end of the lifting and conveying device (5). Each pulling mechanism comprises a spring (4-1), a Y-shaped pulling device (4-2) and a mounting plate (4-3); the Y-shaped pulling device (4-2) is installed on the rack assembly (1); one end of the spring (4-1) is connected with the rear end of the Y-shaped pulling device (4-2); the other end of the spring (4-1) is installed on the rack assembly (1) through the mounting plate (4-3); and the spring (4-1) is used for tensioning the Y-shaped pulling device (4-2) so that the Y-shaped pulling device (4-2) returns to the initial position after pulling Chinese cabbages (7) each time. The Y-shaped pulling device (4-2) comprises rollers (4-2-1), rotating shafts (4-2-2), Y-shaped mounting plates (4-2-3) and pulling shafts (4-2-4); the rotating shafts (4-2-2) are respectively installed on both sides of the front end of the Y-shaped mounting plate (4-2-3); the pulling shafts (4-2-4) are arranged at the rear end of the Y-shaped mounting plate (4-2-3); the rollers (4-2-1) are respectively installed on the pulling shafts (4-2-4); the rollers (4-2-1) are in contact with the conveying belt at the front end of the lifting and conveying device (5); the two Y-shaped mounting plates (4-2-3) are oppositely arranged; and the middle of both sides of the front end of the Y-shaped mounting plate (4-2-3) is a groove.

2. The side-hanging Chinese cabbage harvester according to claim 1, characterized by, The device further comprises an image acquisition module; and the control module is connected with the image acquisition module. The image acquisition module is used for shooting pictures of Chinese cabbages (7) clamped by the conveying belt and transmitting the pictures to the control module; when the control module judges the posture of the Chinese cabbages (7) to be inclined according to the pictures, the speed of the lifting and conveying device (5) is controlled so as to change the posture of the Chinese cabbages (7) until the posture of the Chinese cabbages (7) is straightened.

3. The side-hanging Chinese cabbage harvester according to claim 1, wherein The rack assembly (1) comprises a first connecting rack (1-2), a second connecting rack (1-3) and a three-point suspension device (1-4). The three-point suspension device (1-4) is connected with the three-point suspension device of the tractor through a pin shaft, the second connecting frame (1-3) is installed on the three-point suspension device (1-4), the first connecting frame (1-2) is installed above the second connecting frame (1-3), and the front end of the first connecting frame (1-2) is arranged downwardly and forms an angle with the plane where the three-point suspension device (1-4) is located. The first connecting frame (1-2) forms an installation angle of 15-20° with the plane where the three-point suspension device (1-4) is located.

4. The side-hanging Chinese cabbage harvester according to claim 1, wherein The righting and guiding device (2) comprises symmetrically arranged furrow dividers (2-1); the furrow dividers (2-1) are installed at one end of a furrow divider mounting plate (2-2), the other end of the furrow divider mounting plate (2-2) is provided with an elongated through slot arranged transversely, the other end of the furrow divider mounting plate (2-2) is installed on the root clamping device (3) through cooperation of a bolt and the elongated through slot, the front and rear installation positions of the righting and guiding device (2) can be changed through the elongated through slot, and the furrow divider mounting plate (2-2) can rotate around the bolt to change the opening size between the two furrow dividers (2-1).

5. The side-hanging Chinese cabbage harvester according to claim 2, wherein The lifting and conveying device (5) comprises two lifting and conveying mechanisms which are arranged symmetrically left and right; Each lifting and conveying mechanism comprises a conveying device assembly (5-1), a conveying belt (5-2) and a right-angle speed reducer (5-3); the conveying device assembly (5-1) is installed on the rack assembly (1), the conveying belt (5-2) and the right-angle speed reducer (5-3) are installed on the conveying device assembly (5-1), and the two conveying belts (5-2) are installed symmetrically left and right and obliquely upward from front to back; the two conveying belts (5-2) have a channel for passing Chinese cabbages therebetween, and the right-angle speed reducer (5-3) drives the conveying belt (5-2) to work, so that the Chinese cabbages are lifted and conveyed backward from the channel; The pair of conveying belts (5-2) in the lifting and conveying device (5) are controlled by two right-angle speed reducers (5-3) respectively, and the right-angle speed reducers (5-3) are connected with a control module.

6. The side-hanging Chinese cabbage harvester according to claim 5, wherein The root clamping device (3) comprises two root clamping mechanisms which are arranged symmetrically left and right; Each root clamping mechanism comprises a triangular belt (3-1), a mounting plate (3-2) and a root clamping assembly (3-3); the root clamping assembly (3-3) is installed on the mounting plate (3-2); the mounting plate (3-2) is installed on the rack assembly (1), and the triangular belt (3-1) is installed on the root clamping assembly (3-3); The root clamping assembly (3-3) is provided with a plurality of tensioning root clamping arms and a root clamping rack, one end of the tensioning root clamping arm is installed on the root clamping rack, the root clamping rack is installed on the mounting plate (3-2), the other end of the tensioning root clamping arm is provided with a pulley, the pulley is in contact with the inner side of the triangular belt (3-1), and the two symmetrically arranged triangular belts (3-1) clamp the root of the Chinese cabbage under the action of the tensioning root clamping arm.

7. The side-hanging Chinese cabbage harvester according to claim 1, wherein The root cutting device (6) comprises a root cutting mechanism mounting plate (6-1), a cutting knife (6-2) and a root cutting rack assembly (6-3). The cutting knife (6-2) is installed on the root cutting frame assembly (6-3), the root cutting frame assembly (6-3) is installed on the root cutting mechanism mounting plate (6-1), the root cutting mechanism mounting plate (6-1) is provided with a vertically designed long through slot, and is installed on the frame assembly (1) through cooperation of bolts and the long through slot; the installation position of the root cutting mechanism mounting plate (6-1) on the first connecting frame (1-2) can be changed by changing the position of the bolt in the long through slot, so that the up-down cutting position of the cutting knife (6-2) is changed.

8. A control method for the side-hanging Chinese cabbage harvester according to claim 6, characterized by, The method comprises the following steps: The righting guide device (2) righting the Chinese cabbage, the pulling mechanism assembly (4) pulling the Chinese cabbage, in the pulling process, the opening of the Y-shaped pulling device (4-2) first goes forward, the Chinese cabbage (7) enters the groove space between the two Y-shaped pulling devices (4-2), with the forward movement of the harvester and the backward conveying of the lifting conveying device (5), the front end of the Chinese cabbage (7) begins to contact the conveying belt (5-2) and is clamped by the Y-shaped pulling device (4-2) cooperating with the conveying belt (5-2); with the continuous forward movement of the harvester, the two Y-shaped pulling devices (4-2) are opposite to each other, at this time, the deformation amount of the conveying belt (5-2) and the contact area with the Chinese cabbage (7) reach the maximum, at this time, the Y-shaped pulling device (4-2) pulls up the Chinese cabbage cooperating with the conveying belt (5-2); with the continuous forward movement of the harvester, the opening of the Y-shaped pulling device (4-2) goes backward, the pulling of the Chinese cabbage (7) is completed, the pulled Chinese cabbage (7) is conveyed backward, the root clamping device (3) clamps the root of the Chinese cabbage through a pair of tensioned V-belts (3-1), and the root cutting device (6) completes the root cutting under the double clamping of the lifting conveying device (5) and the root clamping device (3).

9. The control method of the side-hanging Chinese cabbage harvester according to claim 8, characterized by, The method further comprises the following steps: In the process of harvesting the Chinese cabbage, the image acquisition module shoots the picture of the Chinese cabbage (7) clamped by the conveying belt (5-2) and transmits the picture to the control module, when the control module judges the posture of the Chinese cabbage (7) to be inclined according to the picture, the control module controls the rotating speed of the right-angle speed reducer motor (5-3) of the lifting conveying device (5), so that the conveying belt (5-2) adjusts the clamping posture of the Chinese cabbage (7).

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