Full-automatic Chinese cabbage harvesting vehicle

Abstract

The invention provides a full-automatic Chinese cabbage harvesting vehicle, and belongs to the technical field of agricultural mechanical picking, the technical scheme includes that the full-automatic Chinese cabbage harvesting vehicle comprises a vehicle body, a clamping and conveying module, a rotary conveying module, a root cutting module and a waste leaf removing module, the clamping and conveying module is arranged at the front end of the vehicle body, Chinese cabbages are pulled out by the clamping and conveying module and then fed into the rotary conveying module, and the root cutting module is used for cutting roots of the Chinese cabbages; the rotary conveying module is installed at the top of the vehicle body, Chinese cabbages are rotated by the rotary conveying module, roots of the Chinese cabbages face one side of the root cutting module and are conveyed into the root cutting module, the root cutting module is arranged at the rear end of the vehicle body, after the roots of the Chinese cabbages are cut off, the Chinese cabbages are conveyed into the waste leaf removing module, and the waste leaf removing module is arranged on the vehicle body. The waste leaf removing module is installed on the vehicle body and located on one side of the root cutting module, and waste leaves on the outer sides of the Chinese cabbages are removed through the waste leaf removing module. The full-automatic Chinese cabbage harvesting vehicle is integrated and efficient in cooperation.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery picking, and in particular relates to a fully automatic cabbage harvesting vehicle. Background Art

[0002] Cabbage is one of the main vegetables in most regions at present, and its cultivation area and consumption rank first among all kinds of vegetables in my country. Cabbage is edible with its tender head, rosette leaves or flower stems, which can be fried, made into soup, or pickled, making it an indispensable vegetable on the table of Chinese residents. In the winter in northern my country, cabbage is a frequent guest on the table, so there is a saying that "winter cabbage is as beautiful as bamboo shoots"; when people harvest cabbage, they generally harvest it manually, which has low harvesting efficiency and high labor intensity. At the same time, after harvesting the cabbage, the land must be turned over again to facilitate the planting of the next batch of crops. If the soil turning operation is completed when harvesting cabbage, the work efficiency can be greatly improved and the labor intensity can be reduced.

[0003] There are also some cabbage harvesting vehicles in the prior art, but most of these cabbage harvesting vehicles only harvest the cabbage from the land, and cannot clean the outer rotten leaves, nor can they remove the roots of the cabbage, and cannot realize automatic cleaning and packaging. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a fully automatic cabbage harvesting vehicle. The present invention integrates the functions of cabbage pulling, root cutting, waste leaf removal, bagging and collecting cabbage roots and waste leaves on one vehicle, and designs modules and mechanisms according to the process, so that each module and mechanism can work efficiently and collaboratively.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a fully automatic cabbage harvesting vehicle, including a vehicle body, a clamping and conveying module, a rotating conveying module, a root cutting module and a waste leaf removing module, the clamping and conveying module is arranged at the front end of the vehicle body, the clamping and conveying module pulls out the cabbage and sends it into the rotating conveying module, the rotating conveying module is installed on the top of the vehicle body, the rotating conveying module rotates the cabbage so that the root of the cabbage faces one side of the root cutting module and sends it into the root cutting module, the root cutting module is arranged at the rear end of the vehicle body, after the root of the cabbage is cut off, it is sent to the waste leaf removing module, the waste leaf removing module is installed on the vehicle body and is located on one side of the root cutting module, and the waste leaf removing module removes the waste leaves on the outside of the cabbage.

[0006] Furthermore, the vehicle body includes a frame, front wheels, rear wheels, a waste leaf collection box and a bagging bracket, the front wheels and rear wheels are arranged below the frame, the waste leaf collection box is installed below the waste leaf removal module, and the bagging bracket is arranged at the rear end of the frame.

[0007] Further, the clamping and conveying module includes a clamping and conveying module base, the clamping and conveying module base is connected to a cross bar through a cross bar hinge, two V-shaped connectors are arranged at both ends of the cross bar, and arc-shaped clamping claws are connected on both sides of each V-shaped connector, a first cylinder is arranged between the clamping and conveying module base and the cross bar, the cylinder end of the first cylinder is arranged on the clamping and conveying module base, and the piston rod of the first cylinder is connected to the middle of the cross bar through the first cylinder connector; Four first conveyor belt assemblies are arranged at intervals on the base of the clamping and conveying module, and each two first conveyor belt assemblies form a group, which are used to convey the cabbage grabbed by the arc-shaped clamping claws. The conveyor belt assembly includes a vertical pulley support fixedly arranged on the clamping and conveying module, and both ends of the vertical pulley support are provided with a vertical pulley shaft, and a vertical pulley is sleeved on the vertical pulley shaft. The two vertical pulleys are sleeved with a vertical conveyor belt, and one of the vertical pulley shafts is connected to the output shaft of the first motor and is driven to rotate by the first motor; Two second transmission belt assemblies are arranged at intervals on the base of the clamping and conveying module, and the second transmission belt assembly is used to relay the cabbage conveyed by the first transmission belt assembly. The second transmission belt assembly includes a horizontal pulley support arranged on the base of the clamping and conveying module, both ends of the horizontal pulley shaft pass through the horizontal pulley support, the horizontal pulley is sleeved on both ends of the horizontal pulley shaft, the horizontal conveyor belt is sleeved on the horizontal pulley, and the end of the horizontal pulley shaft is provided with a first gear. A second motor bracket is arranged on the base of the clamping and conveying module, and a second motor is arranged on the second motor bracket. The output shaft of the second motor is connected to the second motor gear, and the second motor gear is meshed with the first gear and drives it to rotate.

[0008] Furthermore, the rotating transmission module includes a circular base, on which a third motor is arranged, the output shaft of the third motor is connected to the third motor gear, the third motor gear is meshed with the second gear, a base is fixedly arranged on the upper surface of the second gear, two cross plates distributed in a cross are arranged on the base, four side plates are arranged on the sides of the cross plates, the four side plates and the two cross plates form four equally divided areas, each area is provided with a group of pushing devices, a small cam is arranged in the central area surrounded by the four pushing devices, the small cam is fixed by a small cam fixing shaft, the four pushing devices rotate around the small cam under the action of the third motor, and the small end of the small cam pushes the pushing device to work.

[0009] Furthermore, the pushing device includes a stepped shaft seat fixedly arranged on the horizontal plate, a stepped shaft seat center hole is arranged on the stepped shaft seat, a slidable stepped shaft is arranged in the stepped shaft seat center hole, push plates are arranged at both ends of the stepped shaft, and a spring is arranged between the push plate on the side close to the small cam and the stepped shaft seat.

[0010] Furthermore, the root cutting module includes a square base fixedly arranged on the vehicle body, a second cylinder is fixedly arranged on the square base, and a cutter is arranged at the output end of the second cylinder; a fourth motor is fixedly arranged on the square base, the output shaft of the fourth motor is connected to the large end center of the large cam, the small end center of the large cam is connected to a connecting rod shaft, the other end of the connecting rod shaft is connected to the connecting rod, the other end of the connecting rod is connected to the lower end of the slider connecting piece, the upper end of the slider connecting piece is connected to the slider, the slider is arranged on the square base, and a push rod is installed above the slider.

[0011] Further, the waste leaf removal module includes a waste leaf removal module base, on which a fifth motor and an end bracket are arranged, the output shaft of the fifth motor is connected to a fifth motor gear, and the fifth motor gear is meshed with a large gear fixedly arranged in the middle position of the end bracket; An arc bracket is fixedly arranged on one side opposite to the end bracket, two impeller shafts and four vertical long screw rods are arranged between the arc bracket and the end bracket, the impeller shaft is located between the two vertical long screw rods, the impeller shaft and the vertical long screw rods form an arc structure, one end of the vertical long screw rod close to the large gear is connected with a worm gear, the impeller shaft passes through the end bracket, and the impeller shafts at both ends of the end bracket are respectively provided with a impeller gear and a pinion gear, the pinion gear meshes with the large gear and rotates under the drive of the large gear, the impeller gear meshes with the worm gear and drives it to rotate, and the impeller shaft is provided with impellers at intervals; A tail arc bracket is arranged on the other side opposite to the arc bracket, and a vertical short screw is arranged between the tail arc bracket and the arc bracket. One end of the vertical short screw is respectively connected to the vertical long screw and the impeller shaft through a universal joint coupling, and the other end of the vertical short screw passes through the tail arc bracket.

[0012] Furthermore, a transverse screw support and a sixth motor are provided on the base of the waste leaf removal module, both ends of the transverse screw are installed in the transverse screw support, a transverse screw gear is provided at one end of the transverse screw and meshes with the sixth motor gear, the sixth motor gear is connected to the output shaft of the sixth motor, a nut seat is provided on the transverse screw, and a tail arc-shaped bracket is connected to the nut seat.

[0013] The advantages of the present invention and its positive effects are.

[0014] 1. The fully automatic cabbage harvester of the present invention is integrated and efficient, and the functions of pulling out cabbage, cutting roots, removing waste leaves, bagging, and collecting cabbage roots and waste leaves are integrated into one vehicle. Modules and mechanisms are designed according to the process, so that each module and mechanism can work efficiently and collaboratively.

[0015] 2. After the fully automatic cabbage harvester of the present invention transports the cabbage to the top through a horizontal conveyor belt, a reversing transmission module is composed of a small cam, a spring and a stepped shaft, so that the cabbage is reversed at the top position, which is convenient for the root cutting module to cut off the cabbage roots, reducing the number of prime movers, and can continuously harvest the cabbage at the same time, thereby improving efficiency.

[0016] 3. After the cabbage is rooted and waste leaves are removed by the fully automatic cabbage harvester of the present invention, the waste leaf collection box can recycle the cabbage roots and waste cabbage leaves, thereby increasing the added value of the cabbage and improving the income of the growers.

[0017] 4. The waste leaf removal module of the fully automatic cabbage harvester of the present invention has four sets of worms and two sets of impellers, which effectively remove the waste leaves of the cabbage. It is driven by a motor through a gear set, making full use of the mechanical structure, reducing the prime mover, and reducing the energy consumption of the machine. In addition, a transverse worm gear is arranged under the tail arc bracket to drive the tail of the waste leaf removal module to swing left and right, and multiple sets of bagging brackets are fixed at the rear of the vehicle body to achieve the continuity of bagging. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall composition of the present invention.

[0019] Figure 2 Schematic diagram of the vehicle body structure.

[0020] Figure 3 It is a schematic diagram of the structure of the clamping and conveying module.

[0021] Figure 4 It is a schematic diagram of the structure of the rotating transmission module.

[0022] Figure 5 This is a schematic diagram of the root cutting module structure.

[0023] Figure 6 Schematic diagram of the waste leaf removal module structure.

[0024] In the figure, 1 is a vehicle body, 101 is a vehicle frame, 102 is a front wheel, 103 is a rear wheel, 104 is a waste leaf collection box, 105 is a bagging bracket, 2 is a clamping and conveying module, 201 is an arc-shaped clamping claw, 202 is a V-shaped connecting piece, 203 is a crossbar hinge, 204 is a crossbar, 205 is a clamping and conveying module base, 206 is a first cylinder connecting piece, 207 is a first cylinder, 208 is a vertical conveyor belt, 209 is a vertical pulley shaft, 210 is a first motor, 211 is a vertical pulley support, 2 12 is a vertical pulley, 213 is a second motor bracket, 214 is a horizontal pulley support, 215 is a horizontal conveyor belt, 216 is a horizontal pulley shaft, 217 is a horizontal pulley, 218 is a first gear, 219 is a second motor gear, 220 is a second motor, 3 is a rotating transmission module, 301 is a circular base, 302 is a third motor, 303 is a third motor gear, 304 is a second gear, 305 is a base, 306 is a side plate, 307 is a spring, 308 is a stepped shaft, 309 is small cam, 310 is the small cam fixed shaft, 311 is the cross plate, 312 is the stepped shaft seat, 313 is the push plate, 4 is the root cutting module, 401 is the cutter, 402 is the second cylinder, 403 is the square base, 404 is the slider, 405 is the push rod, 406 is the slider connector, 407 is the connecting rod, 408 is the connecting rod shaft, 409 is the large cam, 410 is the fourth motor, 5 is the waste leaf removal module, 501 is the fifth motor gear, 502 is the end bracket, 503 is the leaf removal gear, 504 is the worm gear, Rod gear, 505 is the impeller shaft, 506 is the arc bracket, 507 is the universal joint coupling, 508 is the sixth motor gear, 509 is the transverse screw gear, 510 is the sixth motor, 511 is the fifth motor, 512 is the small gear, 513 is the large gear, 514 is the impeller, 515 is the vertical long screw, 516 is the waste leaf removal module base, 517 is the vertical short screw, 518 is the nut seat, 519 is the tail arc bracket, 520 is the transverse screw, and 521 is the transverse screw support. DETAILED DESCRIPTION

[0025] In order to make the objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below.

[0026] like Figure 1-Figure 2As shown, the fully automatic cabbage harvester includes a vehicle body 1, a clamping and conveying module 2, a rotating conveying module 3, a root cutting module 4 and a waste leaf removal module 5. The vehicle body 1 includes a frame 101, a front wheel 102, a rear wheel 103, a waste leaf collection box 104 and a bagging bracket 105. The front wheel 102 and the rear wheel 103 are arranged below the frame 101, and the power structure of the vehicle body 1 can adopt the existing power mechanism, which will not be repeated again. The waste leaf collection box 104 is installed below the waste leaf removal module 5, and is used to centrally recycle vegetable roots and waste cabbage leaves, increase the added value of cabbage, and increase the income of growers. The bagging bracket 105 is arranged at the rear end of the frame 101, and is used to pack the processed cabbage.

[0027] The clamping and conveying module 2 is arranged at the front end of the vehicle body 1. After the clamping and conveying module pulls out the cabbage, it is sent to the rotating conveying module 3 installed on the top of the vehicle body 1. The rotating conveying module 3 rotates the cabbage so that the root of the cabbage faces the side of the root cutting module 4 and sends it to the root cutting module 4. The root cutting module 4 is arranged at the rear end of the vehicle body 1. After the root of the cabbage is cut off, it is sent to the waste leaf removal module 5. The waste leaf removal module 5 is installed on the vehicle body and is located on one side of the root cutting module 4. The waste leaf removal module 5 removes the waste leaves on the outside of the cabbage.

[0028] The clamping and conveying module 2, the rotating conveying module 3 and the root cutting module 4 of the present invention are each provided with two groups, so that two rows of cabbage can be harvested at the same time, and the rotating conveying module 3 is a multi-station design structure, which can continuously receive the cabbage transmitted by the clamping and conveying module 2 and send the cabbage into the root cutting module 4, and the waste leaf removing module 5 is arranged between the two groups of root cutting modules 4. After the root cutting module 4 cuts off the root of the cabbage, it is pushed into the waste leaf removing module 5 to remove the waste leaves on the outside of the cabbage, and finally the processed cabbage is sent into a packaging bag.

[0029] The structure and working process of the fully automatic cabbage harvester are briefly introduced above, but the structure of each module is not described in detail. The specific structure and working process of each module are described in detail below with reference to the accompanying drawings.

[0030] like Figure 3 As shown, the clamping and conveying module 2 includes a clamping and conveying module base 205 arranged at the front end of the frame 101. The clamping and conveying module base 205 is connected to a cross bar 204 through a cross bar hinge 203, two V-shaped connectors 202 are arranged at both ends of the cross bar 204, and arc-shaped clamping claws 201 are connected on both sides of each V-shaped connector 202. A first cylinder 207 is arranged between the clamping and conveying module base 205 and the cross bar 204, and the cylinder end of the first cylinder 207 is arranged on the clamping and conveying module base 205, and the piston rod of the first cylinder 207 is connected to the middle of the cross bar 204 through a first cylinder connector 206.

[0031] Four first conveyor belt assemblies are arranged at intervals on the clamping and conveying module base 205, and each two first conveyor belt assemblies form a group, which are used to convey the cabbage grabbed by the arc-shaped clamping claw 201. The conveyor belt assembly includes a vertical pulley support 211 fixedly arranged on the clamping and conveying module 2, and vertical pulley shafts 209 are arranged at both ends of the vertical pulley support 211. The vertical pulley shaft 209 is sleeved with vertical pulleys 212, and the two vertical pulleys 212 are sleeved with vertical conveyor belts 208, and one of the vertical pulley shafts 209 is connected to the output shaft of the first motor 210 and is driven to rotate by the first motor 210.

[0032] Two second transmission belt assemblies are arranged at intervals on the clamping and conveying module base 205, and the second transmission belt assembly is used to relay the cabbage conveyed by the first transmission belt assembly. The second transmission belt assembly includes a horizontal pulley support 214 arranged on the clamping and conveying module base 205, and both ends of the horizontal pulley shaft 216 pass through the horizontal pulley support 214. The horizontal pulley 217 is sleeved on both ends of the horizontal pulley shaft 216. The horizontal conveyor belt 215 is sleeved on the horizontal pulley 217, and the end of the horizontal pulley shaft 216 is provided with a first gear 218. A second motor bracket 213 is arranged on the clamping and conveying module base 205, and a second motor 220 is arranged on the second motor bracket 213. The output shaft of the second motor 220 is connected to the second motor gear 219, and the second motor gear 219 is meshed with the first gear 218 and drives it to rotate.

[0033] Two arc-shaped clamps 201 clamp the cabbage, and then the piston rod of the first cylinder 207 extends forward to lift the cross bar 204 upward. After the arc-shaped clamps 201 pull the cabbage out of the field, the cabbage will enter between the two first transmission components, and the first motor 210 rotates, thereby driving the vertical pulley shaft 209 and the vertical pulley 212 to rotate. The vertical pulley 212 rotates to drive the vertical transmission belt to rotate, and the two vertical transmission belts send the clamped cabbage into the second transmission component. The cabbage is placed flat on the horizontal conveyor belt 215 of the second transmission component, and the second motor 220 drives the horizontal conveyor belt 215 to move and send the cabbage into the rotating transmission module 3.

[0034] like Figure 4As shown, the rotating transmission module 3 includes a circular base 301, on which a third motor 302 is arranged, the output shaft of the third motor 302 is connected to the third motor gear 303, the third motor gear 303 is meshed with the second gear 304, and a base 305 is fixedly arranged on the upper surface of the second gear 304, and two cross plates 311 distributed in a cross are arranged on the base 305, and four side plates 306 are arranged on the sides of the cross plates 311, and the four side plates 306 and the two cross plates 311 form four equally divided areas, each of which is provided with a group of pushing devices, and a small cam 309 is arranged in the central area surrounded by the four pushing devices, the large end of the small cam 309 is on the inner side, and the small end is on the outer side, and the position of the small cam 309 is always in a fixed state, and the central axis of the base circle of the small cam 309, the central axis of the second gear 304 and the central axis of the circular base 301 are collinear. The four ejection devices rotate around the small cam 309 under the action of the third motor 302, and the small end of the small cam 309 pushes the ejection devices to work.

[0035] The pushing device includes a stepped shaft seat 312 fixedly set on the horizontal plate 311, and a stepped shaft seat 312 center hole is set on the stepped shaft seat 312, a slidable stepped shaft 308 is set in the center hole of the stepped shaft seat 312, and push plates 313 are set at both ends of the stepped shaft 308. A spring 307 is set between the push plate 313 on the side close to the small cam 309 and the stepped shaft seat 312.

[0036] The cabbage first enters a station between the two side plates 306, and the third motor 302 works. The output shaft of the third motor 302 drives the entire base 305 to rotate through the third motor gear 303 and the second gear 304 meshing therewith, thereby driving the cross plate 311 and the side plate 306 to rotate. The cabbage will rotate with the rotation of the cross plate 311. When the cabbage rotates to the small end position of the small cam 309, the root of the cabbage is facing the root cutting module 4. At the same time, the small end of the small cam 309 will squeeze the stepped shaft 308 of the push-up device, and the push plate 313 on the side of the stepped shaft 308 close to the cabbage pushes the cabbage into the root cutting module 4. After the stepped shaft 308 pushes the cabbage out, it will reset under the action of the spring 307. Each rotating transmission module 3 has four stations, which continuously receive the cabbage sent by the clamping transmission module 2 and perform automatic rotating transmission on it.

[0037] like Figure 5As shown, the root cutting module 4 includes a square base 403 fixedly arranged on the vehicle body 1, a second cylinder 402 is fixedly arranged on the square base 403, and a cutter 401 is arranged at the output end of the second cylinder 402; a fourth motor 410 is fixedly arranged on the square base 403, the output shaft of the fourth motor 410 is connected to the center of the large end of the large cam 409, the center of the small end of the large cam 409 is connected to a connecting rod shaft 408, the other end of the connecting rod shaft 408 is connected to a connecting rod 407, the other end of the connecting rod 407 is connected to the lower end of a slider connector 406, the upper end of the slider connector 406 is connected to a slider 404, the slider 404 is arranged on the square base 403, and a push rod 405 is installed above the slider 404.

[0038] After the cabbage enters the root cutting module 4, the root of the cabbage is aligned with the cutter 401, and the second cylinder 402 drives the cutter 401 to move upward to cut off the root of the cabbage. After the root is cut off, the fourth motor 410 works, and the cam-connecting rod 407 mechanism composed of the cam, the connecting rod 407 and the slider 404 drives the push rod 405 to work, and the push rod 405 is used to push the cabbage into the waste leaf removing module 5.

[0039] like Figure 6 As shown, the waste leaf removal module 5 includes a waste leaf removal module base 516 fixedly arranged on the vehicle body 1, and a fifth motor 511 and an end bracket 502 are arranged on the waste leaf removal module base 516, and the output shaft of the fifth motor 511 is connected to the fifth motor 511 gear 501, and the fifth motor 511 gear 501 is meshed with a large gear 513 fixedly arranged in the middle position of the end bracket 502.

[0040] An arc bracket 506 is fixedly set on the side opposite to the end bracket 502, and two impeller shafts and four vertical long screw rods 515 are set between the arc bracket 506 and the end bracket 502. The impeller shaft is located between the two vertical long screw rods 515, and the impeller shaft and the vertical long screw rods 515 form an arc structure. The end of the vertical long screw rod 515 close to the large gear 513 is connected with a worm gear 504, and the impeller shaft 505 passes through the end bracket 502. The impeller shaft 505 at both ends of the end bracket are respectively provided with a impeller gear 503 and a small gear 512. The small gear 512 is meshed with the large gear 513 and rotates under the drive of the large gear 513. The impeller gear 503 is meshed with the worm gear 504 and drives it to rotate, and the impeller shaft is spaced apart with impellers 514.

[0041] A tail arc bracket 519 is arranged on the other side opposite to the arc bracket 506, and a vertical short screw rod 517 is arranged between the tail arc bracket 519 and the arc bracket. One end of the vertical short screw rod 517 is respectively connected to the vertical long screw rod 515 and the impeller shaft 505 through a universal joint coupling 507, and the other end of the vertical short screw rod 517 passes through the tail arc bracket 519.

[0042] A transverse screw support 521 and a sixth motor 510 are provided on the waste leaf removal module base 516. Both ends of the transverse screw 520 are installed in the transverse screw support 521. The transverse screw gear 509 is provided at one end of the transverse screw 520 and meshes with the sixth motor gear 508. The sixth motor gear 508 is connected to the output shaft of the sixth motor 510. The nut seat 518 is sleeved on the transverse screw 520, and the tail arc bracket 519 is connected to the nut seat 518.

[0043] The cabbage enters the arc structure formed by the impeller shaft and the vertical long screw rod 515, and then the fifth motor 511 works, and the impeller shaft is driven to rotate through the mutual meshing transmission of the large gear 513, the small gear 512, the leaf removal gear 503 and the worm gear 504, and the impeller shaft is driven to rotate. The impeller 514 on the impeller shaft rotates with the impeller shaft to peel off the waste leaves on the surface of the cabbage, and the cabbage after the waste leaves are peeled off will enter the vertical short screw. The sixth motor 510 works to drive the transverse screw rod 520 to rotate, and the transverse screw rod 520 drives the nut seat 518 to swing left and right. The left and right movement of the nut seat 518 will drive the tail arc bracket 519 to move left and right. The left and right movement of the tail arc bracket 519 will drive the tail of the waste leaf removal module 5 to swing left and right. The multi-assembly bagging bracket 105 is fixed at the rear of the vehicle body 1 to achieve the continuity of bagging.

[0044] The fully automatic cabbage harvester of the present invention is integrated and efficient, and the functions of pulling out cabbage, cutting roots, removing waste leaves, bagging, and collecting cabbage roots and waste leaves are integrated into one vehicle. Modules and mechanisms are designed according to the process, so that each module and mechanism can work efficiently and collaboratively.

[0045] The embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. Fully automatic cabbage harvester, characterized by: The invention comprises a vehicle body (1), a clamping and conveying module (2), a rotating conveying module (3), a root cutting module (4) and a waste leaf removing module (5), wherein the clamping and conveying module (2) is arranged at the front end of the vehicle body (1); after the clamping and conveying module (2) pulls out the cabbage, the cabbage is sent to the rotating conveying module (3); the rotating conveying module (3) is installed at the top of the vehicle body (1); the rotating conveying module (3) rotates the cabbage so that the root of the cabbage faces the side of the root cutting module (4) and sends the cabbage to the root cutting module (4); the root cutting module (4) is arranged at the rear end of the vehicle body (1); after the root of the cabbage is cut off, the cabbage is sent to the waste leaf removing module (5); the waste leaf removing module (5) is installed on the vehicle body (1) and is located on one side of the root cutting module (4); the waste leaf removing module (5) removes the waste leaves on the outer side of the cabbage.

2. The fully automatic cabbage harvester according to claim 1 is characterized in that: The vehicle body (1) comprises a vehicle frame (101), a front wheel (102), a rear wheel (103), a waste leaf collection box (104) and a bagging support (105); the front wheel (102) and the rear wheel (103) are arranged below the vehicle frame (101); the waste leaf collection box (104) is installed below the waste leaf removal module (5); and the bagging support (105) is arranged at the rear end of the vehicle frame (101).

3. The fully automatic cabbage harvester according to claim 2 is characterized in that: The clamping and conveying module (2) comprises a clamping and conveying module base (205), the clamping and conveying module base (205) is connected to a cross bar (204) via a cross bar hinge (203), two V-shaped connecting pieces (202) are arranged at both ends of the cross bar (204), both sides of each V-shaped connecting piece (202) are connected to arc-shaped clamping claws (201), a first cylinder (207) is arranged between the clamping and conveying module base (205) and the cross bar (204), a cylinder end of the first cylinder (207) is arranged on the clamping and conveying module base (205), and a piston rod of the first cylinder (207) is connected to the middle part of the cross bar (204) via a first cylinder connecting piece (206); Four first conveyor belt assemblies are arranged at intervals on the clamping and conveying module base (205), and each two first conveyor belt assemblies form a group, which are used to convey the cabbage grasped by the arc-shaped clamping claw (201), and the conveyor belt assembly comprises a vertical pulley support (211) fixedly arranged on the clamping and conveying module (2), and vertical pulley shafts (209) are arranged at both ends of the vertical pulley support (211), and vertical pulleys (212) are sleeved on the vertical pulley shaft (209), and a vertical conveyor belt (208) is sleeved between the two vertical pulleys (212), and one of the vertical pulley shafts (209) is connected to the output shaft of the first motor (210) and is driven to rotate by the first motor (210); Two second conveyor belt assemblies are arranged at intervals on the clamping and conveying module base (205), and the second conveyor belt assemblies are used to relay the cabbage conveyed by the first conveyor belt assembly. The second conveyor belt assembly comprises a horizontal pulley support (214) arranged on the clamping and conveying module base (205), two ends of the horizontal pulley shaft (216) pass through the horizontal pulley support (214), a horizontal pulley (217) is sleeved on two ends of the horizontal pulley shaft (216), the horizontal conveyor belt (215) is sleeved between the two horizontal pulleys (217), and a first gear (218) is arranged at the end of the horizontal pulley shaft (216). A second motor bracket (213) is arranged on the clamping and conveying module base (205), and a second motor (220) is arranged on the second motor bracket (213). The output shaft of the second motor (220) is connected to the second motor gear (219), and the second motor gear (219) is meshed with the first gear (218) and drives it to rotate.

4. The fully automatic cabbage harvester according to claim 3 is characterized in that: The rotary transmission module (3) comprises a circular base (301), on which a third motor (302) is arranged, the output shaft of the third motor (302) is connected to a third motor gear (303), the third motor gear (303) is meshed with a second gear (304), a base (305) is fixedly arranged on the upper surface of the second gear (304), two cross plates (311) arranged in a cross pattern are arranged on the base (305), four side plates (306) are arranged on the sides of the cross plates (311), the four side plates (306) and the two cross plates (311) form four equally divided areas, each area is provided with a group of ejection devices, a small cam (309) is arranged in the central area surrounded by the four ejection devices, the small cam (309) is fixedly installed via a small cam fixing shaft (310), the four ejection devices rotate around the small cam (309) under the action of the third motor (302), and the small end of the small cam (309) pushes the ejection device to work.

5. The fully automatic cabbage harvester according to claim 4 is characterized in that: The push-out device comprises a stepped shaft seat (312) fixedly arranged on the horizontal plate (311), a stepped shaft seat center hole being arranged on the stepped shaft seat (312), a slidable stepped shaft (308) being arranged in the stepped shaft seat center hole, push plates (313) being arranged at both ends of the stepped shaft (308), and a spring (307) being arranged between the push plate (313) on the side close to the small cam (309) and the stepped shaft seat (312).

6. The fully automatic cabbage harvester according to claim 5, characterized in that: The root cutting module (4) comprises a square base (403) fixedly arranged on the vehicle body (1), a second cylinder (402) being fixedly arranged on the square base (403), and a cutter (401) being arranged at the output end of the second cylinder (402); A fourth motor (410) is fixedly arranged on the square base (403); an output shaft of the fourth motor (410) is connected to the center of the large end of the large cam (409); a connecting rod shaft (408) is connected to the center of the small end of the large cam (409); the other end of the connecting rod shaft (408) is connected to a connecting rod (407); the other end of the connecting rod (407) is connected to the lower end of a slider connector (406); the upper end of the slider connector (406) is connected to a slider (404); the slider (404) is arranged on the square base (403); and a push rod (405) is installed above the slider (404).

7. The fully automatic cabbage harvester according to claim 6, characterized in that: The waste leaf removal module (5) comprises a waste leaf removal module base (516), a fifth motor (511) and an end bracket (502) are arranged on the waste leaf removal module base (516), an output shaft of the fifth motor (511) is connected to a fifth motor (511) gear (501), and the fifth motor (511) gear (501) is meshed with a large gear (513) fixedly arranged at a middle position of the end bracket (502); An arc-shaped bracket (506) is fixedly arranged on one side opposite to the end bracket (502); two impeller removal shafts (505) and four vertical long screw rods (515) are arranged between the arc-shaped bracket (506) and the end bracket (502); the impeller removal shaft (505) is located between the two vertical long screw rods (515); the impeller removal shaft (505) and the vertical long screw rods (515) form an arc-shaped structure; one end of the vertical long screw rod (515) close to the large gear (513) is connected to the large gear (513); A worm gear (504) is connected to the impeller shaft (505), the impeller shaft (505) passes through the end bracket (502), and impeller gears (503) and pinions (512) are respectively arranged on the impeller shafts (505) at both ends of the end bracket. The pinion gear (512) meshes with the large gear (513) and rotates under the drive of the large gear (513), and the impeller gear (503) meshes with the worm gear (504) and drives them to rotate. Impellers (514) are arranged on the impeller shaft at intervals. A tail arc-shaped bracket (519) is arranged on the other side opposite to the arc-shaped bracket (506), and a vertical short screw rod (517) is arranged between the tail arc-shaped bracket (519) and the arc-shaped bracket. One end of the vertical short screw rod (517) is respectively connected to the vertical long screw rod (515) and the impeller shaft (505) through a universal joint coupling (507), and the other end of the vertical short screw rod (517) passes through the tail arc-shaped bracket (519).

8. The fully automatic cabbage harvester according to claim 7, characterized in that: A transverse screw support (521) and a sixth motor (510) are provided on the waste leaf removal module base (516); both ends of the transverse screw (520) are mounted in the transverse screw support (521); a transverse screw gear (509) is provided at one end of the transverse screw (520) and meshes with the sixth motor gear (508); the sixth motor gear (508) is connected to the output shaft of the sixth motor (510); a nut seat (518) is sleeved on the transverse screw (520); and a tail arc-shaped bracket (519) is connected to the nut seat (518).

Images