Full-automatic Chinese cabbage harvesting vehicle

Abstract

The application provides a full-automatic Chinese cabbage harvesting vehicle, and belongs to the technical field of agricultural machinery picking. The technical scheme 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. After the Chinese cabbage is pulled out by the clamping and conveying module, the Chinese cabbage is sent into the rotary conveying module. The rotary conveying module is installed at the top of the vehicle body. The rotary conveying module rotates the Chinese cabbage, so that the root of the Chinese cabbage is directed to the side of the root cutting module and is sent into the root cutting module. The root cutting module is arranged at the rear end of the vehicle body. After the root of the Chinese cabbage is cut, the Chinese cabbage is sent into the waste leaf removing module. The waste leaf removing module is installed on the vehicle body and is located at the side of the root cutting module. The waste leaf removing module removes the waste leaves outside the Chinese cabbage. The full-automatic Chinese cabbage harvesting vehicle is integrated and is high in efficiency.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery harvesting technology, and in particular relates to a fully automatic cabbage harvesting vehicle. Background Technology

[0002] Chinese cabbage is one of the main vegetables in most parts of my country, ranking first in terms of cultivation area and consumption among all types of vegetables. Chinese cabbage is eaten for its tender heads, rosette leaves, or flower stalks, and can be stir-fried, used in soups, or pickled, making it an indispensable vegetable on the tables of Chinese residents. In the winter of northern my country, Chinese cabbage is a frequent guest on the table, hence the saying "winter cabbage is as delicious as bamboo shoots." Harvesting Chinese cabbage is generally done manually, which is inefficient and labor-intensive. Furthermore, after harvesting the cabbage, the land needs to be tilled again to prepare for planting the next crop. If the tilling work were done during the cabbage harvest, work efficiency could be greatly improved and labor intensity reduced.

[0003] There are some cabbage harvesting vehicles in the existing technology, but most of these cabbage harvesting vehicles can only harvest cabbage from the ground. They cannot clean the outer rotten leaves or remove the roots of the cabbage, and cannot achieve automated cleaning and packaging. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a fully automatic cabbage harvesting vehicle. This invention integrates functions such as cabbage harvesting, root cutting, waste leaf removal, bagging, and collection of cabbage roots and waste leaves onto a single vehicle. The modules and mechanisms are designed according to the workflow, enabling efficient collaborative operation among these modules and mechanisms.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: 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 removal module. The clamping and conveying module is located at the front end of the vehicle body. After the clamping and conveying module pulls out the cabbage, it is fed 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 the root-cutting module and is fed into the root-cutting module. The root-cutting module is located at the rear end of the vehicle body. After cutting off the root of the cabbage, it is fed into the waste leaf removal module. The waste leaf removal module is installed on the vehicle body and located on one side of the root-cutting module. The waste leaf removal 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 located below the frame, the waste leaf collection box is installed below the waste leaf removal module, and the bagging bracket is located at the rear end of the frame.

[0007] Furthermore, the clamping and conveying module includes a clamping and conveying module base, a crossbar is connected to the clamping and conveying module base via a crossbar hinge, two V-shaped connectors are provided at both ends of the crossbar, and arc-shaped grippers are connected to both sides of each V-shaped connector. A first cylinder is provided between the clamping and conveying module base and the crossbar, the cylinder body end of the first cylinder is provided on the clamping and conveying module base, and the piston rod of the first cylinder is connected to the middle of the crossbar through the first cylinder connector.

[0008] The clamping and conveying module base is provided with four first transmission belt assemblies spaced apart, with each pair of first transmission belt assemblies forming a group, used to convey cabbage gripped by arc-shaped claws. Each transmission belt assembly includes a vertical pulley support fixedly mounted on the clamping and conveying module. Both ends of the vertical pulley support are provided with vertical pulley shafts, and vertical pulleys are sleeved on the vertical pulley shafts. Vertical transmission belts are sleeved on the two vertical pulleys. One of the vertical pulley shafts is connected to the output shaft of a first motor and is driven to rotate by the first motor.

[0009] Two second transmission belt assemblies are spaced apart on the clamping and conveying module base. The second transmission belt assemblies are used to relay the cabbage conveyed by the first transmission belt assembly. The second transmission belt assembly includes a horizontal pulley support set on the clamping and conveying module base. The two 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. A first gear is set at the end of the horizontal pulley shaft. A second motor bracket is set on the clamping and conveying module base. A second motor is set on the second motor bracket. The output shaft of the second motor is connected to the second motor gear. The second motor gear meshes with the first gear and drives it to rotate.

[0010] Furthermore, the rotary conveying module includes a circular base, on which a third motor is mounted. The output shaft of the third motor is connected to a gear, which meshes with a second gear. A base is fixedly mounted on the upper surface of the second gear. Two cross-shaped horizontal plates are mounted on the base, and four side plates are mounted on the sides of the horizontal plates. The four side plates and the two horizontal plates form four equally divided areas. Each area is equipped with a set of pushing devices. A small cam is mounted 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 devices to work.

[0011] Furthermore, the pushing device includes a stepped shaft seat fixedly mounted on the horizontal plate, a stepped shaft seat center hole provided on the stepped shaft seat, a slidable stepped shaft provided in the stepped shaft seat center hole, and push plates provided at both ends of the stepped shaft, with a spring provided between the push plate near the small cam and the stepped shaft seat.

[0012] Furthermore, the root cutting module includes a square base fixedly mounted on the vehicle body, a second cylinder fixedly mounted on the square base, and a cutter mounted on the output end of the second cylinder; a fourth motor fixedly mounted on the square base, the output shaft of the fourth motor being connected to the center of the large end of the large cam, a connecting rod shaft being connected to the center of the small end of the large cam, the other end of the connecting rod shaft being connected to a connecting rod, the other end of the connecting rod being connected to the lower end of the slider connector, the upper end of the slider connector being connected to the slider, the slider being mounted on the square base, and a push rod being mounted above the slider.

[0013] Furthermore, the waste leaf removal module includes a waste leaf removal module base, on which a fifth motor and an end bracket are provided. The output shaft of the fifth motor is connected to a fifth motor gear, which meshes with a large gear fixedly disposed in the middle of the end bracket.

[0014] An arc-shaped bracket is fixedly installed on one side opposite to the end bracket. Two impeller shafts and four vertical long screws are arranged between the arc-shaped bracket and the end bracket. The impeller shafts are located between the two vertical long screws. The impeller shafts and the vertical long screws form an arc-shaped structure. A worm gear is connected to the end of the vertical long screw near the large gear. The impeller shafts pass through the end bracket. Impeller gears and small gears are respectively installed on the impeller shafts at both ends of the end bracket. The small 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. Impellers are arranged at intervals on the impeller shafts.

[0015] On the opposite side of the arc-shaped bracket, a tail arc-shaped bracket is provided. A vertical short lead rod is provided between the tail arc-shaped bracket and the arc-shaped bracket. One end of the vertical short lead rod is connected to a vertical long lead rod and the impeller shaft respectively through a universal joint coupling. The other end of the vertical short lead rod passes through the tail arc-shaped bracket.

[0016] Furthermore, the waste leaf removal module base is provided with a transverse lead screw support and a sixth motor. The two ends of the transverse lead screw are installed in the transverse lead screw support. The transverse lead screw gear is located at one end of the transverse lead screw and meshes with the sixth motor gear. The sixth motor gear is connected to the output shaft of the sixth motor. The lead screw nut is sleeved on the transverse lead screw, and the tail arc-shaped bracket is connected to the lead screw nut.

[0017] The advantages and positive effects of this invention are as follows.

[0018] 1. The fully automatic cabbage harvesting vehicle of the present invention is integrated in one unit, which is highly efficient and coordinated. It integrates the functions of cabbage pulling, root cutting, waste leaf removal, bagging, and collection of cabbage roots and waste leaves into one vehicle. The modules and mechanisms are designed according to the process, so that each module and mechanism can work together efficiently.

[0019] 2. The fully automatic cabbage harvesting vehicle of the present invention transports cabbage to the top via a horizontal conveyor belt. Then, a reversing conveyor module composed of a small cam, a spring, and a stepped shaft is used to reverse the cabbage at the top position, which facilitates the root cutting module to cut off the cabbage root, reduces the number of driving parts, and allows for continuous harvesting of cabbage, thus improving efficiency.

[0020] 3. After the cabbage roots are cut and waste leaves are removed, the waste leaf collection box of the fully automatic cabbage harvesting vehicle of the present invention can recycle the cabbage roots and waste leaves, increase the added value of the cabbage, and increase the income of growers.

[0021] 4. The waste leaf removal module of the fully automatic cabbage harvesting vehicle of this invention has four sets of worm gears and two sets of impellers, effectively removing waste leaves from the cabbage. It is driven by a motor through a gear set, making full use of the mechanical structure, reducing the number of driving parts, and lowering the machine's energy consumption. Moreover, a transverse worm gear is set below the arc-shaped support at the rear, which drives the rear of the waste leaf removal module to swing left and right. Multiple bagging brackets are fixed at the rear of the vehicle body to achieve continuous bagging. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall composition of the present invention.

[0023] Figure 2 This is a schematic diagram of the vehicle body structure.

[0024] Figure 3 This is a schematic diagram of the clamping and conveying module structure.

[0025] Figure 4 This is a schematic diagram of the rotary conveyor module.

[0026] Figure 5 This is a schematic diagram of the root cutting module structure.

[0027] Figure 6 This is a schematic diagram of the waste leaf removal module.

[0028] In the diagram, 1 represents the vehicle body, 101 the frame, 102 the front wheel, 103 the rear wheel, 104 the waste leaf collection box, 105 the bagging bracket, 2 the clamping and conveying module, 201 the arc-shaped gripper, 202 the V-shaped connector, 203 the crossbar hinge, 204 the crossbar, 205 the clamping and conveying module base, 206 the first cylinder connector, 207 the first cylinder, 208 the vertical conveyor belt, 209 the vertical pulley axle, 210 the first motor, and 211 the vertical pulley support. 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 rotary conveyor 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, and 309 is... Small cam, 310 is the small cam fixed shaft, 311 is the horizontal 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 waste leaf removal gear, and 504 is the worm gear. 505 is the impeller shaft, 506 is the arc-shaped bracket, 507 is the universal joint coupling, 508 is the sixth motor gear, 509 is the transverse lead screw gear, 510 is the sixth motor, 511 is the fifth motor, 512 is the pinion, 513 is the large gear, 514 is the impeller, 515 is the vertical long lead screw, 516 is the waste leaf removal module base, 517 is the vertical short lead screw, 518 is the lead screw nut, 519 is the tail arc-shaped bracket, 520 is the transverse lead screw, and 521 is the transverse lead screw support. Detailed Implementation

[0029] To make the objectives, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below.

[0030] like Figures 1-2As shown, the fully automatic cabbage harvesting vehicle 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, front wheels 102, rear wheels 103, a waste leaf collection box 104, and a bagging bracket 105. The front wheels 102 and rear wheels 103 are located below the frame 101. The power structure of the vehicle body 1 can use existing power mechanisms, which will not be described again. The waste leaf collection box 104 is installed below the waste leaf removal module 5 and is used to centrally collect cabbage roots and waste leaves, increasing the added value of the cabbage and improving the income of growers. The bagging bracket 105 is located at the rear end of the frame 101 and is used to pack the processed cabbage.

[0031] The clamping and conveying module 2 is located at the front end of the vehicle body 1. After the clamping and conveying module pulls out the cabbage, it is sent into 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 root cutting module 4 and sends it into the root cutting module 4. The root cutting module 4 is located at the rear end of the vehicle body 1. After cutting off the root of the cabbage, it is sent into the waste leaf removal module 5. The waste leaf removal module 5 is installed on the vehicle body and 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.

[0032] The clamping and conveying module 2, the rotating conveying module 3, and the root-cutting module 4 of this invention are all provided in two sets, so that two rows of cabbages can be harvested at the same time. The rotating conveying module 3 has a multi-station design structure, which can continuously receive the cabbages transmitted by the clamping and conveying module 2 and send the cabbages into the root-cutting module 4. The waste leaf removal module 5 is set between the two sets of root-cutting modules 4. After the root-cutting module 4 cuts off the root of the cabbage, it pushes it into the waste leaf removal module 5 to remove the waste leaves on the outside of the cabbage. Finally, the processed cabbage is sent into a packing bag.

[0033] The above provides a brief introduction to the structure and working process of the fully automatic cabbage harvester, but does not provide a detailed explanation of the structure of each module. The following section, with reference to the accompanying drawings, provides a detailed introduction to the specific structure and working process of each module.

[0034] like Figure 3 As shown, the clamping and conveying module 2 includes a clamping and conveying module base 205 disposed at the front end of the frame 101. The clamping and conveying module base 205 is connected to a crossbar 204 via a crossbar hinge 203. Two V-shaped connectors 202 are disposed at both ends of the crossbar 204. Each V-shaped connector 202 is connected to two arc-shaped grippers 201 on both sides. A first cylinder 207 is disposed between the clamping and conveying module base 205 and the crossbar 204. The cylinder body of the first cylinder 207 is disposed on the clamping and conveying module base 205. The piston rod of the first cylinder 207 is connected to the crossbar 204 via a first cylinder connector 206.

[0035] Four first conveyor belt assemblies are spaced apart on the clamping and conveying module base 205, with two first conveyor belt assemblies forming a group for conveying cabbages gripped by the arc-shaped grippers 201. Each conveyor belt assembly includes a vertical pulley support 211 fixedly mounted on the clamping and conveying module 2. Vertical pulley shafts 209 are provided at both ends of the vertical pulley support 211, and vertical pulleys 212 are fitted onto the vertical pulley shafts 209. Vertical conveyor belts 208 are fitted onto the two vertical pulleys 212. One of the vertical pulley shafts 209 is connected to the output shaft of a first motor 210 and is driven to rotate by the first motor 210.

[0036] Two second transmission belt assemblies are spaced apart on the clamping and conveying module base 205. The second transmission belt assemblies are used to relay the cabbage conveyed by the first transmission belt assembly. The second transmission belt assembly includes a horizontal pulley support 214 on the clamping and conveying module base 205. The two 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. The end of the horizontal pulley shaft 216 is provided with a first gear 218. The clamping and conveying module base 205 is provided with a second motor bracket 213. The second motor bracket 213 is provided with a second motor 220. The output shaft of the second motor 220 is connected to the second motor gear 219. The second motor gear 219 meshes with the first gear 218 and drives it to rotate.

[0037] Two arc-shaped grippers 201 clamp the cabbage, and then the piston rod of the first cylinder 207 extends forward to lift the crossbar 204 upward. After the arc-shaped grippers 201 pull the cabbage out of the field, the cabbage will enter between the two first transmission components. The first motor 210 rotates, thereby driving the vertical pulley shaft 209 and the vertical pulley 212 to rotate. The rotation of the vertical pulley 212 drives the vertical transmission belt to rotate. 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. The second motor 220 drives the horizontal conveyor belt 215 to move and send the cabbage into the rotary conveyor module 3.

[0038] like Figure 4As shown, the rotary conveying module 3 includes a circular base 301, on which a third motor 302 is mounted. The output shaft of the third motor 302 is connected to a third motor gear 303. The third motor gear 303 meshes with a second gear 304. A base 305 is fixedly mounted on the upper surface of the second gear 304. Two cross-shaped horizontal plates 311 are mounted on the base 305. Four side plates 306 are mounted on the sides of the horizontal plates 311. The four side plates 306 and the two horizontal plates 311 form four equally divided areas. Each area is equipped with a set of pushing devices. A small cam 309 is mounted in the central area surrounded by the four pushing devices. The large end of the small cam 309 is on the inside and the small end is on the outside. The position of the small cam 309 is always fixed. 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 pushing devices rotate around the small cam 309 under the action of the third motor 302, and the small end of the small cam 309 drives the pushing devices to work.

[0039] The pushing device includes a stepped shaft seat 312 fixedly mounted on the horizontal plate 311. The stepped shaft seat 312 has a central hole and a slidable stepped shaft 308 inside the central hole. Push plates 313 are provided at both ends of the stepped shaft 308. A spring 307 is provided between the push plate 313 near the small cam 309 and the stepped shaft seat 312.

[0040] The cabbage first enters a station between the two side plates 306. The third motor 302 then operates. The output shaft of the third motor 302, through the third motor gear 303 and its meshing second gear 304, drives the entire base 305 to rotate, thereby rotating the horizontal plate 311 and the side plates 306. The cabbage rotates with the horizontal plate 311. When the cabbage rotates to the small end of the small cam 309, its root faces the root-cutting module 4. Simultaneously, the small end of the small cam 309 presses against the stepped shaft 308 of the pushing device. The pusher 313 on the side of the stepped shaft 308 near the cabbage pushes the cabbage into the root-cutting module 4. After the stepped shaft 308 pushes the cabbage out, it resets under the action of the spring 307. Each rotary conveyor module 3 has four stations, continuously receiving cabbages from the clamping conveyor module 2 and automating their rotary conveying.

[0041] like Figure 5As shown, the root cutting module 4 includes a square base 403 fixedly mounted on the vehicle body 1. A second cylinder 402 is fixedly mounted on the square base 403, and a cutter 401 is provided at the output end of the second cylinder 402. A fourth motor 410 is fixedly mounted 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. 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 the connecting rod 407. The other end of the connecting rod 407 is connected to the lower end of the slider connector 406. The upper end of the slider connector 406 is connected to the slider 404. The slider 404 is mounted on the square base 403, and a push rod 405 is installed above the slider 404.

[0042] After the cabbage enters the root cutting module 4, the root of the cabbage is aligned with the cutter 401. 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. The cam-connecting rod 407 mechanism, composed of a cam, connecting rod 407 and slider 404, drives the push rod 405 to work. The push rod 405 pushes the cabbage into the waste leaf removal module 5.

[0043] like Figure 6 As shown, the waste leaf removal module 5 includes a waste leaf removal module base 516 fixedly mounted on the vehicle body 1. A fifth motor 511 and an end bracket 502 are mounted on the waste leaf removal module base 516. The output shaft of the fifth motor 511 is connected to a fifth motor 511 gear 501. The fifth motor 511 gear 501 meshes with a large gear 513 fixedly mounted in the middle of the end bracket 502.

[0044] An arc-shaped bracket 506 is fixedly installed on one side opposite to the end bracket 502. Two impeller shafts and four vertical long screw rods 515 are arranged between the arc-shaped bracket 506 and the end bracket 502. The impeller shafts are located between the two vertical long screw rods 515. The impeller shafts and the vertical long screw rods 515 form an arc-shaped structure. The end of the vertical long screw rod 515 near the large gear 513 is connected to a worm gear 504. The impeller shaft 505 passes through the end bracket 502. Impeller gears 503 and small gears 512 are respectively arranged on the impeller shafts 505 at both ends of the end bracket. The small gear 512 meshes with the large gear 513 and rotates under the drive of the large gear 513. The impeller gear 503 meshes with the worm gear 504 and drives it to rotate. Impellers 514 are arranged at intervals on the impeller shaft.

[0045] On the opposite side of the arc-shaped bracket 506, a tail arc-shaped bracket 519 is provided. A vertical short lead rod 517 is provided between the tail arc-shaped bracket 519 and the arc-shaped bracket. One end of the vertical short lead rod 517 is connected to the vertical long lead rod 515 and the impeller shaft 505 respectively through a universal joint coupling 507. The other end of the vertical short lead rod 517 passes through the tail arc-shaped bracket 519.

[0046] A transverse lead screw support 521 and a sixth motor 510 are provided on the waste leaf removal module base 516. The two ends of the transverse lead screw 520 are installed in the transverse lead screw support 521. A transverse lead screw gear 509 is provided at one end of the transverse lead 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 lead screw nut 518 is sleeved on the transverse lead screw 520. A tail arc-shaped bracket 519 is connected to the lead screw nut 518.

[0047] The cabbage enters the arc-shaped structure formed by the impeller shaft and the vertical long lead screw 515. Then, the fifth motor 511 works, driving the impeller shaft to rotate through the meshing of the large gear 513, small gear 512, impeller gear 503, and worm gear 504. The impeller wheel 514 on the impeller shaft rotates with the impeller shaft, peeling off the waste leaves from the surface of the cabbage. The cabbage after the waste leaves are peeled off will enter the vertical short lead screw. The sixth motor 510 works to drive the horizontal lead screw 520 to rotate. The horizontal lead screw 520 drives the lead screw nut 518 to swing left and right. The left and right movement of the lead screw nut 518 will drive the left and right movement of the rear arc-shaped bracket 519. The left and right movement of the rear arc-shaped bracket 519 will drive the rear of the waste leaf removal module 5 to swing left and right. The multi-bag assembly bracket 105 is fixed at the rear of the vehicle body 1 to achieve continuous bagging.

[0048] The fully automatic cabbage harvesting vehicle of this invention is integrated in one unit, which is highly efficient and coordinated. It integrates functions such as cabbage pulling, root cutting, waste leaf removal, bagging, and collection of cabbage roots and waste leaves into one vehicle. The modules and mechanisms are designed according to the process, so that each module and mechanism can work together efficiently.

[0049] The embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A fully automatic cabbage harvesting vehicle, characterized in that, The system 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 clamping and conveying module (2) is located at the front end of the vehicle body (1). After the clamping and conveying module (2) pulls out the cabbage, it sends it into the rotating conveying module (3). The rotating conveying module (3) is 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 root-cutting module (4) and sends it into the root-cutting module (4). The root-cutting module (4) is located at the rear end of the vehicle body (1). After cutting off the root of the cabbage, it sends it into the waste leaf removal module (5). The waste leaf removal module (5) is installed on the vehicle body (1) and 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. The rotary transmission module (3) includes a circular base (301), on which a third motor (302) is mounted. The output shaft of the third motor (302) is connected to a third motor gear (303). The third motor gear (303) meshes with a second gear (304). A base (305) is fixedly mounted on the upper surface of the second gear (304). Two cross-shaped horizontal plates (311) are mounted on the base (305). Four side plates (306) are mounted on the sides of the horizontal plates (311). The four side plates (306) and the two horizontal plates (311) form four equally divided areas. Each area is equipped with a set of pushing devices. A small cam (309) is mounted in the central area surrounded by the four pushing devices. The small cam (309) is fixed by a small cam fixing shaft (310). The four pushing devices rotate around the small cam (309) under the action of the third motor (302). The small end of the small cam (309) pushes the pushing device to work.

2. The fully automatic cabbage harvesting vehicle according to claim 1, characterized in that: 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 located below the frame (101), the waste leaf collection box (104) is installed below the waste leaf removal module (5), and the bagging bracket (105) is located at the rear end of the frame (101).

3. The fully automatic cabbage harvesting vehicle according to claim 2, characterized in that: The clamping and conveying module (2) includes a clamping and conveying module base (205), which is connected to a crossbar (204) via a crossbar hinge (203). Two V-shaped connectors (202) are provided at both ends of the crossbar (204), and arc-shaped grippers (201) are connected to both sides of each V-shaped connector (202). A first cylinder (207) is provided between the clamping and conveying module base (205) and the crossbar (204). The cylinder body of the first cylinder (207) is provided on the clamping and conveying module base (205), and the piston rod of the first cylinder (207) is connected to the middle of the crossbar (204) via a first cylinder connector (206). The clamping and conveying module base (205) is provided with four first transmission belt assemblies at intervals, and each pair of first transmission belt assemblies is a group for conveying cabbage gripped by the arc-shaped claw (201). The transmission belt assembly includes a vertical pulley support (211) fixedly installed in the clamping and conveying module (2). Both ends of the vertical pulley support (211) are provided with vertical pulley shafts (209). Vertical pulleys (212) are sleeved on the vertical pulley shafts (209). A vertical conveyor belt (208) is sleeved between the two vertical pulleys (212). 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 transmission belt assemblies are spaced apart on the clamping and conveying module base (205). The second transmission belt assemblies are used to relay the cabbage conveyed by the first transmission belt assembly. The second transmission belt assembly includes a horizontal pulley support (214) on the clamping and conveying module base (205). The two 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 between the two horizontal pulleys (217). The end of the horizontal pulley shaft (216) is provided with a first gear (218). The clamping and conveying module base (205) is provided with a second motor bracket (213). The second motor bracket (213) is provided with a second motor (220). The output shaft of the second motor (220) is connected to the second motor gear (219). The second motor gear (219) meshes with the first gear (218) and drives it to rotate.

4. The fully automatic cabbage harvesting vehicle according to claim 3, characterized in that: The pushing device includes a stepped shaft seat (312) fixedly mounted on a horizontal plate (311). The stepped shaft seat (312) has a stepped shaft seat center hole. A slidable stepped shaft (308) is provided in the stepped shaft seat center hole. Push plates (313) are provided at both ends of the stepped shaft (308). A spring (307) is provided between the push plate (313) near the small cam (309) and the stepped shaft seat (312).

5. The fully automatic cabbage harvesting vehicle according to claim 4, characterized in that: The root cutting module (4) includes a square base (403) fixedly mounted on the vehicle body (1), a second cylinder (402) fixedly mounted on the square base (403), and a cutter (401) mounted on the output end of the second cylinder (402). A fourth motor (410) is fixedly installed on a 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 set on the square base (403). A push rod (405) is installed above the slider (404).

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

7. The fully automatic cabbage harvesting vehicle according to claim 6, characterized in that: The waste leaf removal module base (516) is provided with a transverse lead screw support (521) and a sixth motor (510). The two ends of the transverse lead screw (520) are installed in the transverse lead screw support (521). The transverse lead screw gear (509) is located at one end of the transverse lead 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 lead screw nut (518) is sleeved on the transverse lead screw (520). The tail arc bracket (519) is connected to the lead screw nut (518).

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