Rod-shaped vegetable harvesting and rotary tillage all-in-one machine

Abstract

The invention relates to the technical field of crop harvesting, in particular to a rod-shaped vegetable harvesting and rotary tillage all-in-one machine which comprises a machine frame, a walking device, a harvesting device, a clamping and conveying device, a pressing elastic type bundling device and a rotary tillage device. The clamping and conveying device forms a conveying channel above the harvesting device so that the rod-shaped vegetables can be clamped and the harvested rod-shaped vegetables can be conveyed in a vertical state. The pressing elastic type bundling device comprises a pressing elastic type harvesting box and a bundling mechanism, and a bent extrusion channel is formed in the pressing elastic type harvesting box so that the rod-shaped vegetables can be extruded into the bundling mechanism to be bundled. The rotary tillage device is arranged at the rear end of the rack so as to perform rotary tillage on the harvested land. The rod-shaped vegetable harvesting and rotary tillage all-in-one machine is very high in automation degree, efficiency, convenience and environmental friendliness are fully considered, a one-stop solution is provided for vegetable farmers, full-automatic work from harvesting to packaging to rotary tillage is achieved, the labor intensity is greatly relieved, the harvesting speed is high, and the harvesting efficiency is high.

Description

Technical Field

[0001] The invention relates to the technical field of crop harvesting, and in particular to a rod-shaped vegetable harvesting and rotary tilling integrated machine. Background Art

[0002] Chinese people cannot do without vegetables for their three meals a day. Lettuce and other stem-shaped vegetables are widely grown in China, mainly in Northeast China, North China, Southwest China and the Yangtze River Basin. The industrial layout of the lettuce industry points out that China's climate and soil conditions are suitable for the growth of lettuce, and China is also one of the world's largest lettuce consumption markets.

[0003] However, when the scale of lettuce cultivation is expanded as the demand for lettuce increases, the labor cost required for harvesting lettuce also increases accordingly. In order to reduce the labor intensity of harvesters and improve harvesting efficiency, it is necessary to develop a mechanical device that can efficiently harvest lettuce and other similar rod-shaped vegetables. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a rod-shaped vegetable harvesting and rotary tilling machine to solve the problem of low efficiency in harvesting similar rod-shaped vegetables such as lettuce in the existing manner.

[0006] (II) Technical solution

[0007] In order to achieve the above object, the present invention provides a rod-shaped vegetable harvesting and rotary tilling machine, which comprises:

[0008] frame;

[0009] A walking device, the walking device comprising a power system and a plurality of pairs of walking wheels arranged on the frame, the power system being capable of driving the walking wheels to drive the frame to walk;

[0010] A harvesting device, the harvesting device comprising a sawing assembly and a sawing drive assembly arranged at the front end of the frame, the sawing drive assembly being capable of driving the sawing assembly to move back and forth to harvest the rod-shaped vegetables;

[0011] A clamping and conveying device, wherein the clamping and conveying device forms a conveying channel above the harvesting device so as to clamp the stem-shaped vegetables and keep the harvested stem-shaped vegetables in an upright state for conveying;

[0012] A pressure-bomb type baling device, the pressure-bomb type baling device comprising a pressure-bomb type harvesting box and a baling mechanism, a curved squeezing channel is formed in the pressure-bomb type harvesting box, the inlet of the squeezing channel corresponds to the outlet of the conveying channel and the outlet of the squeezing channel corresponds to the baling mechanism, so that the rod-shaped vegetables can be squeezed into the baling mechanism for baling;

[0013] A rotary tillage device is arranged at the rear end of the frame so as to rotary till the harvested land.

[0014] Optionally, the sawing assembly comprises a saw blade, guide posts arranged at both ends of the saw blade, a pair of linear bearings arranged on the bottom plate of the frame, and a connecting rod with one end hinged to one of the guide posts, and the guide posts are arranged on the linear bearings in a one-to-one correspondence; the saw blade is located below the entrance of the transmission channel;

[0015] The sawing drive assembly comprises a sawing motor arranged on the frame and a disc fixedly arranged on the output shaft of the sawing motor, and the other end of the connecting rod is eccentrically hinged on the disc;

[0016] When the sawing motor drives the disc to rotate, the connecting rod drives the guide column to move back and forth on the linear bearing.

[0017] Optionally, the clamping conveying device includes a fixed conveyor belt and a movable conveyor belt; the working surface of the movable conveyor belt can be close to or away from the working surface of the fixed conveyor belt, the working surface of the movable conveyor belt and the working surface of the fixed conveyor belt are both vertically arranged, and the conveying channel is formed between the working surface of the movable conveyor belt and the working surface of the fixed conveyor belt.

[0018] Optionally, the fixed conveyor belt comprises a first bracket arranged on the bottom plate of the frame, a pair of first rollers vertically mounted on the first bracket, and a first conveyor belt wrapped around the pair of first rollers;

[0019] The movable conveyor belt comprises a second bracket arranged on the bottom plate of the frame, a pair of second rollers vertically mounted on the second bracket, a pair of third rollers vertically mounted, a plurality of pairs of shock absorbers and a second conveyor belt, wherein the shock absorber is horizontally arranged, one end of the shock absorber is fixedly mounted on the second bracket and the other end is mounted with the third roller, the third roller is close to the first conveyor belt, the second conveyor belt is covered outside the second roller and the third roller, one of the second rollers is an active roller, and the power system can also drive the active roller to rotate;

[0020] The conveying channel is formed between the first conveying belt and the second conveying belt.

[0021] Optionally, the pressure-bomb type harvesting box comprises a first box wall and a second box wall, the bottoms of the first box wall and the second box wall are arranged on the bottom plate of the frame, and the first box wall and the second box wall together form the S-shaped extrusion channel;

[0022] The first box wall is S-shaped, the starting end of the first box wall is close to the outlet of the conveying channel, the first box wall forms a first opening portion and a second opening portion which are opposite to each other, the opening of the first opening portion faces the outlet of the conveying channel, and the opening of the second opening portion faces the strapping mechanism;

[0023] The second box wall starts from the middle of the first opening and extends around the starting end of the first box wall to the middle of the second opening;

[0024] The inlet of the extrusion channel is located between the starting end of the second box wall and the middle section of the first box wall; the outlet of the extrusion channel is located between the end of the first box wall and the end of the second box wall.

[0025] Optionally, a slope pad is further provided between the end of the first box wall and the end of the second box wall, and the top surface of the slope pad gradually rises from the bottom plate of the frame toward one side of the bundling mechanism.

[0026] Optionally, the strapping mechanism includes an upper limit plate, a lower limit plate fixedly arranged on the bottom plate of the frame, a central gear, a plurality of planetary gears, a strapping motor, an output gear arranged on the output shaft of the strapping motor, a plurality of worms and at least one elastic ring;

[0027] The output gear is meshed with one of the planetary gears, and a plurality of the planetary gears are spaced around the central gear and meshed with the central gear, and the lower end of the worm is key-connected with the planetary gears in a one-to-one correspondence; a plurality of limiting holes are formed on the edges of the upper limit plate and the lower limit plate, and the worm passes through the limiting holes of the upper limit plate and the lower limit plate in a one-to-one correspondence, and the planetary gear is located between the upper limit plate and the lower limit plate; the elastic ring can simultaneously cover the threads of a plurality of the worms, and the initial position of the elastic ring is not higher than the end height of the ramp pad;

[0028] When the strapping motor drives the planetary gear to rotate, the elastic ring can move upward along the worm.

[0029] Optionally, the pressure-bullet baling device further comprises a grasping mechanism, wherein the grasping mechanism comprises a displacement unit disposed on the frame and a mechanical claw disposed on the displacement unit, wherein the mechanical claw is capable of grasping and transferring the bundled rod-shaped vegetables.

[0030] Optionally, the rotary tilling device includes a lifting mechanism disposed on the frame and a rotary tilling mechanism disposed on the lifting mechanism, and the lifting mechanism can drive the rotary tilling mechanism to lift and lower to adjust the rotary tilling depth of the rotary tilling mechanism.

[0031] Optionally, the lifting mechanisms are arranged in pairs, each of which comprises a lifting motor arranged on the vertical beam of the frame, a transmission gear arranged on the output shaft of the lifting motor, a rack meshing with the transmission gear, a linear guide rail vertically arranged on the vertical beam of the frame, and a linear slider with a dovetail groove; the linear slider is fixedly arranged on the rack, the dovetail groove of the linear slider is adapted to the linear guide rail, and the lifting motor can drive the rack to reciprocate, thereby driving the linear slider to reciprocate on the linear guide rail;

[0032] The rotary tillage mechanism includes a rotary tillage motor and a pair of bearing seats fixedly arranged on the linear slider, a rotary tillage shaft rotatably installed in the bearing seat, a coupling connecting the output shaft of the rotary tillage motor and the rotary tillage shaft, and a plurality of groups of rotary tillage blades arranged at intervals on the rotary tillage shaft; the rotary tillage blade includes a blade seat arranged on the rotary tillage shaft and a plurality of blades arranged on the blade seat; the plurality of blades are distributed in a circular array.

[0033] (III) Beneficial effects

[0034] The present invention is aimed at the harvesting method of rod-shaped vegetables such as lettuce planted on the land, and designs a highly automated rod-shaped vegetable harvesting and rotary tilling integrated machine, which fully considers efficiency, convenience and environmental protection, and aims to provide vegetable growers with a one-stop solution. It works fully automatically from harvesting to packaging to rotary tilling, greatly reducing labor intensity, harvesting speed and efficiency, while reducing production costs, and realizing automated production in this traditional industry field. Moreover, by adopting flexible cutting technology, combined with upright transmission and bundling in an extruded state, the quality and efficiency of vegetable harvesting are guaranteed, meeting the market's high requirements for agricultural product quality, and also adapting to large-scale planting needs.

[0035] Specifically, the above-mentioned equipment is highly adaptable and can flexibly adjust the width of the transmission channel according to the plants at different spacings, ensuring that the plants are clamped and stabilized, and kept in an upright state for transmission. The front end of the frame is equipped with a crank rocker mechanism (the connecting rod is eccentrically connected to the disc) to drive the saw blade to move back and forth on the linear bearing, so as to achieve back and forth movement for precise cutting. The transmission channel transmits the cut rod-shaped vegetables to the curved extrusion channel and arranges them neatly. After that, the bundling mechanism bundles the arranged rod-shaped vegetables, and the gripping mechanism transfers the packaged rod-shaped vegetables to both sides of the frame. Finally, the lifting mechanism drives the rotary tillage mechanism to lift and lower to adjust the rotary tillage depth of the rotary tillage mechanism, crush the remaining rhizomes of the rod-shaped vegetables in the land, and return them to the field, thereby reducing waste and increasing soil fertility.

[0036] In short, the present invention will greatly reduce the labor intensity of vegetable growers, improve the vegetable harvest integrity rate and reduce the harvest cost, can effectively increase the economic benefits of vegetable growers and improve the enthusiasm of growers, and has positive significance for the development of vegetable planting industrialization. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a three-dimensional diagram of the rod-shaped vegetable harvesting and rotary tilling machine of the present invention;

[0038] Figure 2 for Figure 1 A stereogram from another perspective;

[0039] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0040] Figure 4 for Figure 1 The main view;

[0041] Figure 5 for Figure 4 A top view of

[0042] Figure 6 for Figure 4 Right view of;

[0043] Figure 7 It is a three-dimensional diagram of the harvesting device, the clamping and conveying device and the pressure-bomb baling device in the present invention;

[0044] Figure 8 It is a three-dimensional diagram of the harvesting device and the clamping and conveying device in the present invention;

[0045] Fig. 9 for Figure 8 The enlarged view of point B in the middle;

[0046] Fig.10 for Figure 8A stereogram from another perspective;

[0047] Fig.11 It is an exploded view of the pressure-bomb type baling device of the present invention;

[0048] Fig.12 It is an enlarged view of the pressure-bomb type harvesting box in the present invention.

[0049] [Description of Reference Numerals]

[0050] 10: rack;

[0051] 20: walking device; 21: power system; 211: first pulley set; 212: second pulley set; 213: gear set; 22: walking wheel;

[0052] 30: harvesting device; 31: saw blade; 32: guide column; 33: linear bearing; 34: connecting rod; 35: sawing motor; 36: disc;

[0053] 40: clamping conveyor; 41: conveying channel; 42: fixed conveyor belt; 421: first bracket; 422: first roller; 423: first conveyor belt; 43: moving conveyor belt; 431: second bracket; 432: second roller; 4321: active roller; 433: third roller; 434: shock absorber; 435: second conveyor belt;

[0054] 50: pressure-spring baling device; 51: pressure-spring harvesting box; 511: extrusion channel; 512: first box wall; 5121: first opening; 5122: second opening; 513: second box wall; 514: slope pad; 52: baling mechanism; 521: upper limit plate; 521a: limit hole; 522: lower limit plate; 523: central gear; 524: planetary gear; 525: baling motor; 526: output gear; 527: worm; 528: elastic ring; 53: grabbing mechanism;

[0055] 60: rotary tillage device; 61: lifting mechanism; 611: lifting motor; 612: transmission gear; 613: rack; 614: linear guide; 615: linear slider; 62: rotary tillage mechanism; 621: rotary tillage motor; 622: bearing seat; 623: rotary tillage shaft; 624: coupling; 625: rotary tillage blade; 6251: blade seat; 6252: blade. DETAILED DESCRIPTION

[0056] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below in conjunction with the accompanying drawings through specific embodiments. Figure 1 The orientation is for reference, and the “front” and “rear” mentioned in this article are determined based on the direction of travel of the device.

[0057] like Figures 1 to 6 As shown, the present invention provides a rod-shaped vegetable harvesting and rotary tilling machine, which includes a frame 10, a walking device 20, a harvesting device 30, a clamping and conveying device 40, a pressure-elastic baling device 50 and a rotary tilling device 60.

[0058] Among them, the walking device 20 includes a power system 21 and a plurality of walking wheels 22 arranged on the frame 10. The power system 21 can drive the walking wheels 22 to drive the frame 10 to walk (refer to the existing walking agricultural machinery equipment). Specifically, the power system 21 can preferably be a permanent magnet synchronous motor, which transmits torsion to the walking wheels 22 through the first pulley group 211 to realize power transmission. The harvesting device 30 includes a sawing assembly and a sawing drive assembly arranged at the front end of the frame 10. The sawing drive assembly can drive the sawing assembly to move back and forth to harvest the rod-shaped vegetables. The clamping and conveying device 40 forms a conveying channel 41 above the harvesting device 30 so as to clamp the rod-shaped vegetables and keep the harvested rod-shaped vegetables in an upright state for conveying. Specifically, the clamping and conveying device 40 first clamps the rod-shaped vegetables in the ground, and then the harvesting device 30 harvests the clamped rod-shaped vegetables. The harvested rod-shaped vegetables continue to be conveyed by the clamping and conveying device 40. The pressure-type baling device 50 includes a pressure-type harvesting box 51 and a bundling mechanism 52. A curved extrusion channel 511 is formed in the pressure-type harvesting box 51. The entrance of the extrusion channel 511 corresponds to the exit of the transmission channel 41 and the exit of the extrusion channel 511 corresponds to the bundling mechanism 52, so that the rod-shaped vegetables can be squeezed into the bundling mechanism 52 for bundling. The rotary tillage device 60 is arranged at the rear end of the frame 10 so as to be able to perform rotary tillage on the harvested land. In addition, the frame 10 can be formed by various types of industrial aluminum profiles connected by various types of aluminum profile angle connectors to ensure the overall strength of the equipment.

[0059] The above-mentioned pole-shaped vegetable harvesting and rotary tilling machine has a very high degree of automation, taking into full consideration efficiency, convenience and environmental protection, and aims to provide vegetable growers with a one-stop solution. It works fully automatically from harvesting to packaging to rotary tilling, greatly reducing labor intensity, harvesting quickly and efficiently, while reducing production costs, and realizing automated production in this traditional industry. Moreover, by adopting flexible cutting technology, combined with vertical transmission and bundling in an extruded state, the quality and efficiency of vegetable harvesting are guaranteed, meeting the market's high requirements for agricultural product quality and adapting to large-scale planting needs.

[0060] Specifically, in a preferred embodiment, Figures 7 to 9The sawing assembly includes a saw blade 31, guide posts 32 arranged at both ends of the saw blade 31, a pair of linear bearings 33 arranged on the bottom plate of the frame 10, and a connecting rod 34 with one end hinged on one of the guide posts 32 (one end of the guide post 32 is hinged to the connecting rod 34, and the other end is fixed to the end of the saw blade 31). The guide posts 32 are arranged on the linear bearings 33 one by one, and the ends extend out of the linear bearings 33; the saw blade 31 is located below the entrance of the transmission channel 41 (the front end, the front and rear direction is determined based on the travel direction of the device), and the teeth of the saw blade 31 face the front end of the frame 10. When the rod-shaped vegetables in the field are clamped by the clamping and conveying device 40 and are ready to be sent backward along the transmission channel 41, they will be cut by the saw blade 31. After cutting, the rod-shaped vegetables remain in an upright state and continue to be conveyed backward. The sawing drive assembly includes a sawing motor 35 disposed on the frame 10 and a disc 36 fixedly disposed on the output shaft of the sawing motor 35. The other end of the connecting rod 34 is eccentrically hinged to the disc 36, that is, the hinge is not at the center of the disc 36. When the sawing motor 35 drives the disc 36 to rotate, the connecting rod 34 drives the guide column 32 to reciprocate on the linear bearing 33, thereby driving the saw blade 31 to reciprocate to achieve cutting. Moreover, as Figure 8 As shown, the harvesting device 30 may preferably include a pair of symmetrically arranged sawing components. This structure is relatively simple, easy to manufacture and maintain, and can achieve a single motor driving dual saw blades to perform cutting operations simultaneously to improve harvesting efficiency.

[0061] like Fig.10 As shown, the clamping conveyor 40 includes a fixed conveyor belt 42 and a moving conveyor belt 43; the working surface of the moving conveyor belt 43 can approach or move away from the working surface of the fixed conveyor belt 42, and the working surface of the moving conveyor belt 43 and the working surface of the fixed conveyor belt 42 are both arranged vertically, and a conveying channel 41 is formed between the working surface of the moving conveyor belt 43 and the working surface of the fixed conveyor belt 42. When the equipment is running, the working surfaces move from front to back, so that lettuce and other rod-shaped vegetables can be sent from front to back along the conveying channel 41. The working surface of the moving conveyor belt 43 can approach or move away from the working surface of the fixed conveyor belt 42, and the width of the conveying channel 41 is adjustable, and the design is ingenious, which can adapt to the sizes of various vegetables, ensuring that the cutting and conveying operations are both accurate and continuous, so as to achieve efficient and stable clamping of lettuce and other rod-shaped vegetables during cutting and continuous backward conveying after cutting. Moreover, the clamping conveyor 40 corresponds to the sawing assembly, and is also arranged in pairs and symmetrically to ensure work efficiency.

[0062] In a preferred embodiment, see again Fig.10The fixed conveyor belt 42 includes a first bracket 421 arranged on the bottom plate of the frame 10, a pair of first rollers 422 vertically installed on the first bracket 421, and a first conveyor belt 423 wrapped around the pair of first rollers 422, wherein a pair of strip grooves can be opened on the bottom plate of the frame 10, and the first bracket 421 is installed on the strip grooves by bolts and nuts. When in use, the installation position of the first bracket 421 can be adjusted according to actual needs, thereby adjusting the initial width of the conveying channel 41.

[0063] The dynamic conveyor belt 43 includes a second bracket 431 arranged on the bottom plate of the frame 10, a pair of second rollers 432 vertically installed on the second bracket 431, a pair of third rollers 433 vertically installed, multiple pairs of shock absorbers 434 and a second conveyor belt 435, the shock absorber 434 is horizontally arranged, one end of the shock absorber 434 is fixedly installed on the second bracket 431 and the other end is installed with the third roller 433, the third roller 433 is close to the first conveyor belt 423, and the second conveyor belt 435 is covered by the second roller 432 and the third roller 433, one of the second rollers 432 is an active roller 4321, and the power system 21 can also drive the active roller 4321 to rotate, and the permanent magnet synchronous motor used to provide power to the walking wheel 22 also provides power to the active roller 4321 through the second pulley group 212 and the gear group 213. This design reduces the demand for additional power sources, thereby saving energy resources and reducing costs. A transmission channel 41 is formed between the first conveyor belt 423 and the second conveyor belt 435. The shock absorber 434 can automatically adjust the tension according to the working conditions to ensure stable transmission and achieve stable clamping of rod-shaped vegetables such as lettuce. The second conveyor belt 435 of the movable conveyor belt 43 is driven by the active roller 4321 to actively rotate, and the first conveyor belt 423 of the fixed conveyor belt 42 cooperates with the movement of the second conveyor belt 435 to ensure that the clamped rod-shaped vegetables such as lettuce can be smoothly transported, ensuring the continuity and efficiency of the harvesting process. The fixed conveyor belt 42 with adjustable position and the shock absorber 434 with adjustable tension not only improve the harvesting efficiency of lettuce, but its flexible adjustment function ensures the applicability to multiple types of vegetables, bringing significant optimization to the vegetable processing process.

[0064] Furthermore, if Fig.11As shown, the pressure-bullet type harvesting box 51 and the bundling mechanism 52 correspond to the clamping conveyor 40, and are also arranged in pairs and symmetrically to ensure work efficiency. The pressure-bullet type harvesting box 51 includes a first box wall 512 and a second box wall 513, the bottoms of the first box wall 512 and the second box wall 513 are arranged on the bottom plate of the frame 10, and the first box wall 512 and the second box wall 513 together form an S-shaped extrusion channel 511, wherein the width of the extrusion channel 511 is basically consistent from the entrance to the exit, and the height of the first box wall 512 and the second box wall 513 is lower than the height of rod-shaped vegetables such as lettuce. Specifically, the top leaves of the lettuce are located above the box wall to keep it in a vertical state. With the continuous operation of the clamping conveyor 40, the lettuce enters the extrusion channel 511 continuously, and the lettuce is pressed into the bundling area in an orderly manner in a "bullet-pressing" manner. Furthermore, the bottom surface of the extrusion channel 511 can preferably be covered with universal balls (universal conveying balls, not shown in the figure). The balls in the universal balls are arranged upward, and the bottom of the lettuce can contact the balls. The balls can reduce the friction of the lettuce moving, which can help the lettuce move more smoothly in the extrusion channel 511.

[0065] See Fig.12 The first box wall 512 is S-shaped, and the starting end 512a of the first box wall 512 is close to the outlet of the conveying channel 41. The first box wall 512 forms a first opening portion 5121 and a second opening portion 5122 which are opposite to each other. The opening of the first opening portion 5121 faces the outlet of the conveying channel 41, and the opening of the second opening portion 5122 faces the bundling mechanism 52. The second box wall 513 starts from the middle of the first opening portion 5121 and extends around the starting end 512a of the first box wall 512 to the middle of the second opening portion 5122. The entrance of the extrusion channel 511 is located between the starting end 513a of the second box wall 513 and the middle section of the first box wall 512; the exit of the extrusion channel 511 is located between the end 512b of the first box wall 512 and the end 513b of the second box wall 513. The shape design of the first box wall 512 and the second box wall 513 is very ingenious. Through the cooperation of the two, the squeezing channel 511 can be extended to the maximum extent within a limited space to ensure that the lettuces can be squeezed into the bundling mechanism 52 in an orderly manner.

[0066] In addition, in order to facilitate the lettuce to enter the bundling mechanism 52, a slope pad 514 is also arranged between the end of the first box wall 512 and the end of the second box wall 513. The top surface of the slope pad 514 gradually rises from the bottom plate of the frame 10 toward the side of the bundling mechanism 52, so that the lettuce can fall smoothly into the bundling mechanism 52.

[0067] See again Fig.11The strapping mechanism 52 includes an upper limit plate 521, a lower limit plate 522 fixedly arranged on the bottom plate of the frame 10, a central gear 523, a plurality of planetary gears 524, a strapping motor 525, an output gear 526 arranged on the output shaft of the strapping motor 525, a plurality of worm gears 527 and at least one elastic ring 528. The output gear 526 is meshed with one of the planetary gears 524, and multiple planetary gears 524 are spaced around the center gear 523 and meshed with the center gear 523. The lower end of the worm 527 is key-connected with the planetary gear 524 in a one-to-one manner. Multiple limiting holes 521a are formed on the edges of the upper limit plate 521 and the lower limit plate 522. The worm 527 passes through the limiting holes 521a of the upper limit plate 521 and the lower limit plate 522 in a one-to-one manner, and the planetary gear 524 is located between the upper limit plate 521 and the lower limit plate 522. The elastic ring 528 can simultaneously cover the threads of multiple worm gears 527, and the initial position of the elastic ring 528 is not higher than the height of the end of the slope pad 514 (close to the end of the strapping mechanism 52). When the bundling motor 525 drives the planetary gears 524 to rotate (the rotation of one of the planetary gears 524 drives the other planetary gears 524 to rotate through the central gear 523), the worm 527 rotates with the planetary gears 524, and the elastic ring 528 can move upward along the thread of the worm 527. The three worms 527 open the elastic ring 528 to the same horizontal plane. As the worm 527 rotates, the elastic ring 528 rises along the thread of the worm 527. When it reaches the top, the elastic ring 528 disengages from the worm 527 and begins to shrink, bundling the lettuce in the bundling mechanism 52. The design is simple and efficient, compact in structure, highly stable, easy to install and maintain, and can quickly and easily bundle lettuce.

[0068] Further, see again Fig.11 The pressure-bomb bundling device 50 also includes a grasping mechanism 53, which includes a displacement unit (not shown in the figure, see the slide rail mechanism or six-axis mechanical arm that intersects vertically and horizontally) arranged on the frame 10 and a mechanical claw (with a servo motor, the motor is not shown in the figure) arranged on the displacement unit. The mechanical claw can grasp and transfer the bundled rod-shaped vegetables. The grasping mechanism 53 can be precisely controlled by the steering gear. In the bundling operation process, the grasping mechanism 53 is first activated, and the mechanical claw quickly extends and tightly clamps the lettuce. In the bundling area of ​​the bundling mechanism 52, the lettuce is fixed into a bundle. After the bundling is completed, the clamping device receives a release signal, and the mechanical claw immediately retracts to the starting position, so that the bundled lettuce can be smoothly taken out of the bundling area. The whole process is precisely dispatched by the steering gear to ensure the efficiency of the operation and the quality of the lettuce bundling. At the same time, the design of the grasping mechanism 53 also takes into account the ease of operation and the convenience of maintenance to meet the needs of continuous production operations.

[0069] See again Figures 2 to 6The rotary tillage device 60 includes a lifting mechanism 61 arranged on the frame 10 and a rotary tillage mechanism 62 arranged on the lifting mechanism 61. The lifting mechanism 61 can drive the rotary tillage mechanism 62 to rise and fall to adjust the rotary tillage depth of the rotary tillage mechanism 62, so as to adapt to the rotary tillage requirements of different soil types.

[0070] In a preferred embodiment, see Figure 2 and Figure 3 The lifting mechanisms 61 are arranged in pairs and symmetrically. The lifting mechanisms 61 include a lifting motor 611 arranged on the vertical beam of the frame 10, a transmission gear 612 arranged on the output shaft of the lifting motor 611, a rack 613 meshing with the transmission gear 612, a linear guide 614 vertically arranged on the vertical beam of the frame 10, and a linear slider 615 with a dovetail groove; the linear slider 615 is fixedly arranged on the rack 613, and the dovetail groove of the linear slider 615 is adapted to the linear guide 614. The lifting motor 611 can drive the rack 613 to move back and forth, thereby driving the linear slider 615 to move back and forth on the linear guide 614. The rotary tillage mechanism 62 includes a rotary tillage motor 621 and a pair of bearing seats 622 fixedly arranged on the linear slider 615, a rotary tillage shaft 623 rotatably installed in the bearing seat 622, a coupling 624 connecting the output shaft of the rotary tillage motor 621 and the rotary tillage shaft 623, and multiple groups of rotary tillage blades 625 arranged at intervals on the rotary tillage shaft 623. Among them, the coupling 624 is a plum blossom coupling. The rotary tillage blade 625 includes a blade seat 6251 arranged on the rotary tillage shaft 623 and multiple blades 6252 arranged on the blade seat 6251; the multiple blades 6252 are distributed in a ring array, and they are hard alloy blades.

[0071] Specifically, the rotary tillage motor 621 is connected to the linear slider 615 by bolts or screws to fix the position of the rotary tillage motor 621, and the rotary tillage motor 621 drives the rotary tillage shaft 623 to rotate through the plum blossom coupling. A knife seat 6251 is welded on the rotary tillage shaft 623, and the blade 6252 is connected to the knife seat 6251 by bolts, thereby driving the blade 6252 to rotate to realize the rotary tillage function. The blade 6252 can effectively prevent hard objects in the soil from interfering with the rotary tillage operation and damaging the rotary tillage mechanism 62. The linear slider 615 is placed on the linear guide rail 614, the rack 613 is connected to the linear slider 615 by bolts or screws, and the lifting motor 611 is fixed on the frame 10 (specifically, it can be a 4040 industrial aluminum profile), which can drive the transmission gear 612 to rotate, and the transmission gear 612 is meshed with the rack 613, and the rack 613 is connected to the linear slider 615 by bolts or screws. The bearing seat 622 is fixed to the linear slider 615 by bolts or screws, and the rotary plow shaft 623 is rotatably installed on the paired bearing seats 622, and then the linear slider 615 is driven by the lifting motor 611, thereby realizing the lifting and lowering of the rotary tillage mechanism 62 to meet the actual rotary tillage needs.

[0072] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0073] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0075] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0076] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A rod-shaped vegetable harvesting and rotary tilling machine, characterized in that: It includes: Frame (10); A walking device (20), the walking device (20) comprising a power system (21) and a plurality of pairs of walking wheels (22) arranged on the frame (10), the power system (21) being capable of driving the walking wheels (22) to drive the frame (10) to walk; A harvesting device (30), the harvesting device (30) comprising a sawing assembly and a sawing drive assembly arranged at the front end of the frame (10), the sawing drive assembly being capable of driving the sawing assembly to move back and forth to harvest the rod-shaped vegetables; A clamping and conveying device (40), wherein the clamping and conveying device (40) forms a conveying channel (41) above the harvesting device (30) so as to clamp the stem-shaped vegetables and keep the harvested stem-shaped vegetables in an upright state for conveying; A pressure-spring baling device (50), the pressure-spring baling device (50) comprising a pressure-spring harvesting box (51) and a baling mechanism (52), a curved squeezing channel (511) being formed in the pressure-spring harvesting box (51), the inlet of the squeezing channel (511) corresponding to the outlet of the conveying channel (41) and the outlet of the squeezing channel (511) corresponding to the baling mechanism (52), so that the rod-shaped vegetables can be squeezed into the baling mechanism (52) for baling; A rotary tillage device (60) is arranged at the rear end of the frame (10) so as to rotary till the harvested land.

2. The rod-shaped vegetable harvesting and rotary tilling machine according to claim 1, characterized in that: The sawing assembly comprises a saw blade (31), guide posts (32) arranged at both ends of the saw blade (31), a pair of linear bearings (33) arranged on the bottom plate of the frame (10), and a connecting rod (34) with one end hinged to one of the guide posts (32), wherein the guide posts (32) are arranged on the linear bearings (33) in a one-to-one correspondence; the saw blade (31) is located below the entrance of the transmission channel (41); The sawing drive assembly comprises a sawing motor (35) arranged on the frame (10) and a disc (36) fixedly arranged on the output shaft of the sawing motor (35), and the other end of the connecting rod (34) is eccentrically hinged on the disc (36); When the sawing motor (35) drives the disc (36) to rotate, the connecting rod (34) drives the guide column (32) to move back and forth on the linear bearing (33).

3. The rod-shaped vegetable harvesting and rotary tilling machine according to claim 1, characterized in that: The clamping conveying device (40) comprises a fixed conveyor belt (42) and a movable conveyor belt (43); the working surface of the movable conveyor belt (43) can be close to or away from the working surface of the fixed conveyor belt (42); the working surface of the movable conveyor belt (43) and the working surface of the fixed conveyor belt (42) are both arranged vertically; the conveying channel (41) is formed between the working surface of the movable conveyor belt (43) and the working surface of the fixed conveyor belt (42).

4. The rod-shaped vegetable harvesting and rotary tilling machine according to claim 2, characterized in that: The fixed conveyor belt (42) comprises a first bracket (421) arranged on the bottom plate of the frame (10), a pair of first rollers (422) vertically mounted on the first bracket (421), and a first conveyor belt (423) wrapped around the pair of first rollers (422); The movable conveyor belt (43) comprises a second bracket (431) arranged on the bottom plate of the frame (10), a pair of second rollers (432) vertically mounted on the second bracket (431), a pair of third rollers (433) vertically mounted, a plurality of pairs of shock absorbers (434) and a second conveyor belt (435), wherein the shock absorber (434) is arranged horizontally, one end of the shock absorber (434) is fixedly mounted on the second bracket (431) and the other end is mounted with the third roller (433), the third roller (433) is close to the first conveyor belt (423), the second conveyor belt (435) is covered outside the second roller (432) and the third roller (433), one of the second rollers (432) is an active roller (4321), and the power system (21) can also drive the active roller (4321) to rotate; The conveying channel (41) is formed between the first conveying belt (423) and the second conveying belt (435).

5. The rod-shaped vegetable harvesting and rotary tilling machine according to any one of claims 1 to 4, characterized in that: The pressure-spring harvesting box (51) comprises a first box wall (512) and a second box wall (513), the bottoms of the first box wall (512) and the second box wall (513) are arranged on the bottom plate of the frame (10), and the first box wall (512) and the second box wall (513) together form the S-shaped extrusion channel (511); The first box wall (512) is S-shaped, the starting end of the first box wall (512) is close to the outlet of the conveying channel (41), the first box wall (512) forms a first opening portion (5121) and a second opening portion (5122) which are opposite to each other, the opening of the first opening portion (5121) faces the outlet of the conveying channel (41), and the opening of the second opening portion (5122) faces the bundling mechanism (52); The second box wall (513) starts from the middle of the first opening (5121), and extends around the starting end of the first box wall (512) to the middle of the second opening (5122); The inlet of the extrusion channel (511) is located between the starting end of the second box wall (513) and the middle section of the first box wall (512); the outlet of the extrusion channel (511) is located between the end of the first box wall (512) and the end of the second box wall (513).

6. The rod-shaped vegetable harvesting and rotary tilling machine according to claim 5, characterized in that: A slope pad (514) is also provided between the end of the first box wall (512) and the end of the second box wall (513), and the top surface of the slope pad (514) gradually rises from the bottom plate of the frame (10) toward one side of the bundling mechanism (52).

7. The rod-shaped vegetable harvesting and rotary tilling machine according to claim 6, characterized in that: The strapping mechanism (52) comprises an upper limit plate (521), a lower limit plate (522) fixedly arranged on the bottom plate of the frame (10), a central gear (523), a plurality of planetary gears (524), a strapping motor (525), an output gear (526) arranged on the output shaft of the strapping motor (525), a plurality of worm gears (527) and at least one elastic ring (528); The output gear (526) meshes with one of the planetary gears (524), and a plurality of the planetary gears (524) are spaced around the central gear (523) and mesh with the central gear (523). The lower end of the worm (527) is key-connected with the planetary gear (524) in a one-to-one correspondence. A plurality of limiting holes (521a) are formed on the edges of the upper limit plate (521) and the lower limit plate (522). The worm (527) passes through the limiting holes (521a) of the upper limit plate (521) and the lower limit plate (522) in a one-to-one correspondence. The planetary gear (524) is located between the upper limit plate (521) and the lower limit plate (522). The elastic ring (528) can simultaneously cover the threads of a plurality of the worms (527), and the initial position of the elastic ring (528) is not higher than the end height of the slope pad (514). When the strapping motor (525) drives the planetary gear (524) to rotate, the elastic ring (528) can move upward along the worm (527).

8. The rod-shaped vegetable harvesting and rotary tilling machine according to any one of claims 1 to 4, characterized in that: The pressure-spring baling device (50) further comprises a grasping mechanism (53), wherein the grasping mechanism (53) comprises a displacement unit arranged on the frame (10) and a mechanical claw arranged on the displacement unit, wherein the mechanical claw is capable of grasping and transferring the bundled rod-shaped vegetables.

9. The rod-shaped vegetable harvesting and rotary tilling machine according to any one of claims 1 to 4, characterized in that: The rotary tilling device (60) comprises a lifting mechanism (61) arranged on the frame (10) and a rotary tilling mechanism (62) arranged on the lifting mechanism (61); the lifting mechanism (61) can drive the rotary tilling mechanism (62) to move up and down so as to adjust the rotary tilling depth of the rotary tilling mechanism (62).

10. The rod-shaped vegetable harvesting and rotary tilling machine according to claim 9, characterized in that: The lifting mechanisms (61) are arranged in pairs, and each of the lifting mechanisms (61) comprises a lifting motor (611) arranged on the vertical beam of the frame (10), a transmission gear (612) arranged on the output shaft of the lifting motor (611), a rack (613) meshed with the transmission gear (612), a linear guide rail (614) vertically arranged on the vertical beam of the frame (10), and a linear slider (615) with a dovetail groove; the linear slider (615) is fixedly arranged on the rack (613), the dovetail groove of the linear slider (615) is adapted to the linear guide rail (614), and the lifting motor (611) can drive the rack (613) to reciprocate, thereby driving the linear slider (615) to reciprocate on the linear guide rail (614); The rotary tillage mechanism (62) comprises a rotary tillage motor (621) and a pair of bearing seats (622) fixedly arranged on the linear slider (615), a rotary tillage shaft (623) rotatably mounted in the bearing seat (622), a coupling (624) connecting the output shaft of the rotary tillage motor (621) and the rotary tillage shaft (623), and a plurality of groups of rotary tillage blades (625) arranged at intervals on the rotary tillage shaft (623); the rotary tillage blades (625) comprise a rotary tillage blade arranged on the rotary tillage shaft (623) A knife seat (6251) and a plurality of blades (6252) arranged on the knife seat (6251); The plurality of blades (6252) are distributed in a circular array.

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