Harvesting method based on semi-automatic asparagus lettuce harvesting device

Abstract

The invention discloses a harvesting method based on a semi-automatic asparagus lettuce harvesting device. The device comprises a leaf removing mechanism, an adjustable linear cutter head mechanism, a four-wheel chassis, an asparagus lettuce clamping and conveying mechanism, a collecting basket and a rack. The asparagus lettuce harvesting method comprises the following steps: S10, judging the height of a linear blade from the ground and adjusting the linear blade to a proper height; s20, a coarse leaf removing ring is aligned to the asparagus lettuce, and an up-down moving assembly drives a leaf removing assembly to remove leaves of the asparagus lettuce; s30, a main switch of the asparagus lettuce clamping and conveying mechanism and a main switch of the adjustable linear cutter head mechanism are turned on; s40, whether the linear blade operates normally or not is judged, and if not, the linear blade is braked and maintained through an electromagnetic chuck; s50, whether the asparagus lettuce to be harvested is harvested or not is judged, and the asparagus lettuce is transported to a rear collecting basket after harvesting is completed; and S60, a main switch of the linear cutter head mechanism is adjusted to be switched off, and operation is finished. By means of the harvesting method, leaf removing and harvesting work of asparagus lettuce in the field is achieved, and the harvesting method has the advantages of being simple in structure, easy to operate, high in efficiency and good in interchangeability.

Description

Technical Field

[0001] The invention relates to the technical field of lettuce harvesting devices, and in particular to a harvesting method based on a semi-automatic lettuce harvesting device. Background Art

[0002] Lettuce, also known as lettuce, is a variety of the species of lettuce in the genus Lactuca in the Asteraceae family that can form fleshy tender stems. It is an annual or biennial herb. It is also known as stem lettuce, lettuce shoots, green bamboo shoots, and lettuce. The stems and leaves contain lettuce, which contains lactucin. It tastes bitter and has an analgesic effect. Lettuce has strong adaptability and can be cultivated in spring and autumn or overwintering, mainly in spring and harvested in summer.

[0003] Lettuce is one of the vegetables that people like to eat. It can be eaten frequently in three meals a day because it has obvious liver protection and cancer prevention effects. It has the effects of opening up and clearing the body, eliminating stagnation and lowering qi, promoting diuresis and lactation, strengthening the body, preventing and fighting cancer, and widening the intestines and facilitating bowel movements. For patients with hypertension, heart disease, etc., it has the effects of diuresis, lowering blood pressure, and preventing heart rhythm disorders.

[0004] At present, the lettuce delivered to the market generally needs to have the leaves of the top bud removed. At the same time, the bottom of the lettuce needs to be cut neatly and not lose too much lettuce body so as not to affect the quality of the lettuce in the market.

[0005] The traditional method of harvesting lettuce is manual harvesting. One method of manual harvesting is to first remove the leaves of the lettuce except the top buds by removing the leaf rings before harvesting and transporting the lettuce to the market. Another method is to harvest the lettuce first, then remove the leaves, and finally transport the lettuce to the market after the harvest is completed. Such separate operation processes will lead to a relatively low lettuce harvesting efficiency and cannot guarantee the quality of the lettuce transported to the market. Summary of the invention

[0006] The invention aims to overcome the problem that the existing manual lettuce harvesting method in the background art has a separate operation process, which leads to a relatively low lettuce harvesting efficiency.

[0007] To this end, the present invention proposes a harvesting method based on a semi-automatic lettuce harvesting device, the semi-automatic lettuce harvesting device comprising a frame, a four-wheel chassis, and a device mounted on the frame: The defoliation mechanism comprises an up-and-down moving assembly and a defoliation assembly; the defoliation assembly comprises a fine defoliation assembly and a coarse defoliation ring at the bottom; the fine defoliation assembly comprises a DC brushless motor, a pinion and an outer gear ring, and a flexible defoliation part is arranged inside the outer gear ring; An adjustable straight blade mechanism includes an electric lead screw assembly and a straight blade mechanism, wherein the straight blade mechanism includes a straight blade, a DC brushless motor, a blade arm, and a plurality of electromagnetic suction cups; and a lettuce clamping and conveying mechanism and a collection basket located below the output end thereof; The harvesting method based on the semi-automatic lettuce harvesting device comprises the following steps: S10: Turn on the power, the leaf removal assembly is lifted to the highest position by the up-and-down moving assembly, and the operator determines the height of the straight blade from the ground and adjusts it to a suitable height; the operator then uses the handrail on the frame to control the direction of the device and pushes the device into the harvesting area, aiming at the area where the lettuce is to be harvested; S20: The operator uses the naked eye to align the coarse defoliation ring with the lettuce to be harvested at the rear end of the device, and presses the normally open button to operate the defoliation mechanism. The vertical moving assembly drives the defoliation assembly to first descend to the lowest position, and at the same time, the DC brushless motor drives the gear set to rotate, driving the flexible defoliation parts to rotate at high speed; the defoliation mechanism stays at the lowest position for a few seconds, and then is lifted to the highest position by the vertical moving assembly. The DC brushless motor stops running, and the normally open switch of the defoliation device is released; S30: The operator pushes the device forward using the handrail, and at the same time turns on the main switch of the lettuce clamping and conveying mechanism and the DC brushless motor 2 to operate the left and right belts of the lettuce clamping and conveying mechanism and the DC brushless motor 2 of the flat blade mechanism; S40: The operator determines whether the straight blade operates normally. If the straight blade operates normally, the DC brushless motor 2 drives the straight blade to rotate at high speed; at the same time, the left and right belts are reversed at the same speed to clamp the lettuce to be harvested and transport it backward; S50: determining whether the lettuce to be harvested is harvested by the straight blade, and if harvesting is completed, the harvested lettuce is transported to a rear collection basket through a lettuce clamping and conveying mechanism; S60: Determine whether the harvested lettuce has reached the rear collection basket. If it has, the operator will turn off the main switch of the lettuce clamping and conveying mechanism and the DC brushless motor 2; the electromagnetic suction cup will be powered on for a few seconds and then turned off to stop the straight blade from rotating, and the harvesting operation is completed.

[0008] As a preferred technical solution of the present application, the following steps are also included: S12: When the operator determines that the straight-shaped blade is too low from the ground or the height is insufficient, if the height is not enough, the blade raising button is pressed and the straight-shaped blade is raised; if the height is too high, the blade lowering button is pressed and the straight-shaped blade is lowered to a suitable position.

[0009] As a preferred technical solution of the present application, the following steps are also included: S14: the operator selectively adopts labor-saving pushing; when the operator needs labor-saving pushing, the operator presses the normally-open button of the driving power wheel on the four-wheel chassis, and the power wheel is powered on and rotates.

[0010] As a preferred technical solution of the present application, the following steps are also included: S16: If the operator does not need to adopt the labor-saving pushing mode, the operator releases the normally open button of the driving power wheel on the four-wheel chassis, the power wheel is powered off and stops rotating, and the cycle ends.

[0011] As a preferred technical solution of the present application, the following steps are also included: S42: When the straight-line blade operates abnormally, the operator turns on the blade brake switch, the DC brushless motor 2 is powered off, the electromagnetic suction cup is energized to suck the straight-line blade to achieve the braking purpose, and the driving stepper motors of the lettuce clamping and conveying mechanism are all powered off.

[0012] As a preferred technical solution of the present application, the following steps are also included: S44: The operator handles the abnormal situation to restore the operation of the straight blade to normal, the operator turns off the blade brake switch, and then the electromagnetic suction cup is powered off, and the harvesting operation is completed.

[0013] As a preferred technical solution of the present application, the following steps are also included: S62: When the operator determines that the lettuce has not reached the rear collection basket, return to step S50 and determine whether the lettuce to be harvested is harvested by the straight blade, until the harvested lettuce is transported to the rear collection basket through the lettuce clamping and conveying mechanism.

[0014] As a preferred technical solution of the present application, the outer gear ring is arranged between the upper cover plate and the lower support plate of the thrust ball bearing, and the outer gear ring is axially constrained by the upper thrust ball bearing and the lower thrust ball bearing; in addition, a transition ring is provided on the outer side of the lower thrust ball bearing, and the outer gear ring cooperates with a plurality of deep groove ball bearings installed on the transition ring in the radial direction.

[0015] As a preferred technical solution of the present application, the flexible leaf removing part is a rubber band and three supporting rib plates that stretch it into a triangular shape, and the three supporting rib plates are fixedly installed on the inner side of the outer gear ring; or the flexible leaf removing part is a plurality of flexible blades, and the flexible blades are fixedly installed on the inner side of the outer gear ring.

[0016] As a preferred technical solution of the present application, a brake and baffle integrated disc is installed on the straight blade disc mechanism, and a plurality of electromagnetic suction cups are installed on the brake and baffle integrated disc. The electromagnetic suction cup brakes the straight blade made of stainless steel or iron. At the same time, the brake and baffle integrated disc has an arc-shaped baffle on the side.

[0017] The semi-automatic lettuce harvesting device provided by the present invention can meet the needs of harvesting lettuce in transit in plain areas and hilly areas, and is suitable for working in small and medium-sized lettuce planting fields. The device is a small and medium-sized equipment and simultaneously meets the dual requirements of efficient leaf removal and complete harvesting. The harvesting device of the present invention has the advantages of simple structure, easy operation, high efficiency and good interchangeability.

[0018] The lettuce harvesting method provided by the present invention can adjust the position of the harvesting device through a four-wheel chassis according to the position of each lettuce, so that the leaf removal ring is set on the lettuce; the height of the straight-shaped blade from the ground is judged according to the height adjustment of each lettuce and adjusted to a suitable height, so that the lettuce cutting height is suitable, and waste or cutting the root of the lettuce, which does not meet the quality requirements, is avoided; the switch of the harvesting device is controlled by judging whether the straight-shaped blade operates normally, whether the harvested lettuce reaches the rear collection basket, etc., so as to achieve the purpose of safe harvesting.

[0019] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 The operating process of the semi-automatic lettuce harvesting method of the present invention is shown in FIG. Figure 1 ; Figure 2 The operation flow diagram of the semi-automatic lettuce harvesting method of the present invention is shown in FIG. Figure 2 ; Figure 3 The operation flow diagram of the semi-automatic lettuce harvesting method of the present invention is shown in FIG. Figure 3 ; Figure 4 The operation flow diagram of the semi-automatic lettuce harvesting method of the present invention is shown in FIG. Figure 4 ; Figure 5 It is an overall schematic diagram of the present invention; Figure 6 It is a schematic diagram of the adjustable flat blade disc of the present invention; Figure 7 It is a schematic diagram of a four-wheel chassis of the present invention; Figure 8 It is a schematic diagram of the up and down moving components of the leaf removal mechanism of the present invention; Fig. 9 is a schematic diagram of a leaf removal assembly of a leaf removal mechanism of the present invention; Fig.10 is a side cross-sectional schematic diagram of the leaf removal mechanism of the present invention; Fig.11 Schematic diagram of the flexible leaf removal part of the leaf removal mechanism of the present invention; Fig.12 is a schematic diagram of the outer gear ring in the leaf removal mechanism of the present invention; Explanation of reference numerals: 1. leaf removal mechanism; 2. adjustable straight blade mechanism; 3. four-wheel chassis; 4. lettuce clamping and conveying mechanism; 5. collection basket; 6. rack; 11. up and down moving assembly; 12. leaf removal assembly; 103. synchronous belt mechanism; 104. linear slide slider mechanism; 108. DC brushless motor 1; 109. support rib sheet metal 1; 110. transition ring; 111. deep groove ball bearing; 112. coarse leaf removal ring; 113. outer gear ring; 114. pinion; 115. upper thrust Ball bearing; 121, connecting rod; 122, lower thrust ball bearing; 123, lower abutment plate; 126, upper cover plate of thrust ball bearing; 139, rubber band; 140, inner groove; 201, pressing plate; 202, integrated brake and baffle plate; 203, knife arm; 209, DC brushless motor 2; 210, electromagnetic suction cup; 212, straight blade; 301, power wheel; 302, driven wheel 1; 303, driven wheel 2; 304, driven wheel 3; 601, left armrest; 602, right armrest. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] like Figure 5~Figure 12 As shown, the present invention proposes a semi-automatic lettuce harvesting device, including a frame 6, a four-wheel chassis 3, and a defoliation mechanism 1 installed on the frame 6, the defoliation mechanism 1 including an up and down moving component 11 and a defoliation component 12; the defoliation component 12 includes a fine defoliation component and a coarse defoliation ring at the bottom; the fine defoliation component includes a DC brushless motor 108, a pinion 114 and an outer gear ring 113, and a flexible defoliation part is arranged on the inner side of the outer gear ring 113; an adjustable straight blade mechanism 2, including an electric lead screw assembly and a straight blade mechanism, the straight blade mechanism includes a straight blade 212, a DC brushless motor 209, a knife arm 203, and a plurality of electromagnetic suction cups; and a lettuce clamping and conveying mechanism 4 and a collecting basket 5 located below its output end.

[0023] like Figures 1 to 12 As shown, based on the above-mentioned semi-automatic lettuce harvesting device, the present invention also discloses a semi-automatic lettuce harvesting method, which specifically includes the following steps: S10: Turn on the power, the leaf removal assembly is lifted to the highest position by the up-and-down moving assembly, and the operator determines the height of the straight blade from the ground and adjusts it to a suitable height; the operator then uses the handrail on the frame to control the direction of the device and pushes the device into the harvesting area, aiming at the area where the lettuce is to be harvested; S20: The operator uses the naked eye to align the coarse defoliation ring with the lettuce to be harvested at the rear end of the device, and presses the normally open button to operate the defoliation mechanism. The vertical moving assembly drives the defoliation assembly to first descend to the lowest position, and at the same time, the DC brushless motor drives the gear set to rotate, driving the flexible defoliation parts to rotate at high speed; the defoliation mechanism stays at the lowest position for a few seconds, and then is lifted to the highest position by the vertical moving assembly. The DC brushless motor stops running, and the normally open switch of the defoliation device is released; S30: The operator pushes the device forward using the handrail, and at the same time turns on the main switch of the lettuce clamping and conveying mechanism and the DC brushless motor 2 to operate the left and right belts of the lettuce clamping and conveying mechanism and the DC brushless motor 2 of the flat blade mechanism; S40: The operator determines whether the straight blade operates normally. If the straight blade operates normally, the DC brushless motor 2 drives the straight blade to rotate at high speed; at the same time, the left and right belts are reversed at the same speed to clamp the lettuce to be harvested and transport it backward; S50: determining whether the lettuce to be harvested is harvested by the straight blade, and if harvesting is completed, the harvested lettuce is transported to a rear collection basket through a lettuce clamping and conveying mechanism; S60: Determine whether the harvested lettuce has reached the rear collection basket. If it has, the operator will turn off the main switch of the lettuce clamping and conveying mechanism and the DC brushless motor 2; the electromagnetic suction cup will be powered on for a few seconds and then turned off to stop the straight blade from rotating, and the harvesting operation is completed.

[0024] The above-mentioned harvesting method based on the semi-automatic lettuce harvesting device also includes the following steps: S12: When the operator determines that the straight-line blade is too low from the ground or the height is insufficient, if the height is not enough, the blade lifting button is pressed and the straight-line blade is lifted; if the height is too high, the blade lowering button is pressed and the straight-line blade is lowered to the appropriate position.

[0025] The above-mentioned harvesting method based on the semi-automatic lettuce harvesting device also includes the following steps: S14: the operator selectively adopts labor-saving pushing; when the operator needs labor-saving pushing, the operator presses the normally open button of the driving power wheel on the four-wheel chassis, and the power wheel is powered on and rotates.

[0026] The above-mentioned harvesting method based on the semi-automatic lettuce harvesting device also includes the following steps: S16: If the operator does not need to use the labor-saving pushing mode, the operator releases the normally open button of the driving power wheel on the four-wheel chassis, the power wheel is powered off and stops rotating, and the cycle ends.

[0027] The above-mentioned harvesting method based on the semi-automatic lettuce harvesting device also includes the following steps: S42: When the straight-line blade operates abnormally, the operator turns on the blade brake switch, the DC brushless motor 2 is powered off, the electromagnetic suction cup is energized to suck the straight-line blade to achieve the purpose of braking, and the driving stepper motors of the lettuce clamping and conveying mechanism are all powered off.

[0028] The above-mentioned harvesting method based on the semi-automatic lettuce harvesting device also includes the following steps: S44: the operator handles the abnormal situation to restore the operation of the straight-shaped blade to normal, the operator turns off the blade brake switch, and then the electromagnetic suction cup is powered off, and the harvesting operation is completed.

[0029] The above-mentioned harvesting method based on the semi-automatic lettuce harvesting device also includes the following steps: S62: When the operator determines that the lettuce has not reached the rear collection basket, return to step S50 and determine whether the lettuce to be harvested is harvested by the straight blade, until the harvested lettuce is transported to the rear collection basket through the lettuce clamping and conveying mechanism.

[0030] like Figure 5~Figure 12 As shown, the semi-automatic lettuce harvesting device of the present invention includes a frame 6, a leaf removal mechanism 1 located at the front end of the frame 6, an adjustable straight blade disc mechanism 2 located in the middle and lower part of the frame 6 (located on the left and right sides of the leaf removal mechanism 1), a lettuce clamping and conveying mechanism 4 also located in the middle and lower part of the frame 6 (located on the rear side of the leaf removal mechanism 1), a four-wheel chassis 3 located at the bottom end of the frame 6, and a collecting basket 5 located behind the frame 6 (below the output end of the lettuce clamping and conveying mechanism 4), wherein the left handrail 601 and the right handrail 602 are part of the frame 6 and are located behind it so that the operator can operate the present invention and control the direction of the entire device.

[0031] The frame 6 restricts the working positions of the leaf removal mechanism 1, the adjustable straight blade mechanism 2, the four-wheel chassis 3, the lettuce clamping and conveying mechanism 4, and the collecting basket 5. The collecting basket 5 is placed on the frame 6 and is located at the rear and lower part of the lettuce clamping and conveying mechanism 4 to receive the lettuce transmitted by the lettuce clamping and conveying mechanism 4.

[0032] like Figures 8 to 12 As shown, the defoliation mechanism 1 includes two parts: a defoliation mechanism up-down moving component 11 and a defoliation mechanism defoliation component 12. The up-down moving component 11 is installed on the frame, and the defoliation component 12 is installed on the up-down moving component 11 with a synchronous belt and a linear slide slider to realize the function of the defoliation component 12 moving up and down.

[0033] The leaf removal mechanism uses a stepper motor to drive a synchronous belt mechanism to drive the connecting parts so that the leaf removal component can move up and down to achieve the leaf removal function. The leaf removal component is composed of an annular leaf removal disk at the bottom, a DC brushless motor in the middle, and a gear set with an embedded flexible leaf removal rubber band.

[0034] Specifically, the up-and-down moving assembly 11 is a synchronous belt mechanism 103 and a linear slide slider mechanism 104. The synchronous belt mechanism 103 is installed on the frame 6. The linear slide slider mechanism 104 is also fixed on the frame 6, and the linear slide slider mechanism 104 extends in the vertical direction.

[0035] When the synchronous belt mechanism 103 drives the linear slide slider mechanism 104 fixed thereto upward (or downward), the defoliation mechanism defoliation component 12 is driven by the linear slide slider mechanism 104 to make the same movement; the linear slide slider mechanism 104 plays an auxiliary restraining role on the defoliation mechanism defoliation component 12.

[0036] The leaf removal assembly 12 mainly consists of a coarse leaf removal assembly consisting of a fixed ring and a fine leaf removal assembly mainly consisting of a group of gear sets with flexible leaf removal parts. The fine leaf removal assembly realizes the fine leaf removal function through a group of gear sets in conjunction with a rubber band 139. The coarse leaf removal ring 112 at the bottom of the leaf removal assembly 12 of the leaf removal mechanism realizes the coarse leaf removal function. The flexible leaf removal part can be a rubber band 139, which is stretched into a triangular shape by three supporting rib sheet metals on the inner side of the outer gear ring 113, or a plurality of flexible leaves.

[0037] The fine leaf removal component is mainly composed of a thrust ball bearing and a deep groove ball bearing, and contains a set of meshing gears and a DC brushless motor, which is a high-speed rotating component that can allow the flexible contact rubber band to be stretched open by the support sheet metals one, two and three.

[0038] The outer gear ring 113 in the fine leaf removal component is provided with three inner grooves 140, and the three inner grooves 140 are correspondingly installed with a support rib sheet metal 109 to stretch the rubber band 139 into a regular triangle shape. The pinion 114 in the fine leaf removal component is directly driven by a DC brushless motor 108 fixed on the thrust ball bearing upper cover plate 126, which in turn drives the outer gear ring 113 meshing therewith to rotate at a high speed, and then the fine leaf removal component cooperates with the up-and-down moving component 11 to make the rubber band 139 or the flexible blade move in a spiral manner to finely remove the leaves on the surface of the lettuce.

[0039] When the up and down moving assembly moves up and down, the brushless DC motor in the leaf removal assembly drives the small gear to rotate at a high speed, thereby causing the flexible contact rubber band to rotate at a high speed.

[0040] The outer gear ring 113 is axially limited by the upper thrust ball bearing 115 and the lower thrust ball bearing 122, the upper thrust ball bearing 115 is limited by the thrust ball bearing upper cover plate 126, and the lower thrust ball bearing 122 is limited by the transition ring 110 and the lower abutment plate 123, wherein the thrust ball bearing upper cover plate 126 is connected to the transition ring 110 and the lower abutment plate 123 by four bolts of the same size. The outer gear ring 113 is radially limited by four deep groove ball bearings 111 distributed in an annular array.

[0041] The leaf removing mechanism leaf removing assembly 12 also includes a coarse leaf removing ring 112 located at the bottom thereof, and the coarse leaf removing ring 112 is connected to the lower support plate 123 by a plurality of connecting rods 121. The coarse leaf removing ring 112 is located in a more suitable space above the lettuce to be harvested.

[0042] like Figure 6 As shown, the adjustable straight blade mechanism 2 mainly includes an electric screw assembly and a straight blade mechanism, and the straight blade mechanism includes a straight blade 212, a DC brushless motor 209), a blade arm 203, and a plurality of electromagnetic suction cups; the electric screw assembly adjusts the distance between the straight blade 212 and the ground.

[0043] The blade arm 203 is fixed with a DC brushless motor 209 and a brake and baffle integrated disc 202. The output shaft of the DC brushless motor 209 uses a pressing sheet 201 to tightly fix a straight blade 212 to the output shaft; the brake and baffle integrated disc 202 is fixed with an electromagnetic suction cup 210. The electromagnetic suction cup 210 is respectively fixed to the brake and baffle integrated disc 202 by bolts, and the other side of the brake and baffle integrated disc 202 is fixed to the blade arm 203.

[0044] Specifically, the straight blade 212 in the adjustable straight blade disc mechanism 2 is fixed on the output shaft of the DC brushless motor 209 through the pressing sheet 201 , and the straight blade 212 is directly driven by the DC brushless motor 209 .

[0045] like Figure 7 As shown, a power wheel and three driven wheels are provided under the frame 6, namely, the power wheel 301 and the driven wheel one 302, the driven wheel two 303 and the driven wheel three 304, and the power wheel 301, the driven wheel one 302, the driven wheel two 303 and the driven wheel three 304 jointly support the entire device.

[0046] The working principle of the harvesting method based on the semi-automatic lettuce harvesting device of the present invention is briefly described below.

[0047] The semi-automatic lettuce harvesting device provided by the present invention can be used in small and medium-sized lettuce planting fields in different terrains, and the device is a small device, and takes into account the requirements of efficient leaf removal and complete harvesting. The present invention has the advantages of simple structure, easy operation, high efficiency and good interchangeability.

[0048] In addition, the lettuce leaf removal and harvesting device can autonomously adjust the height of the straight-line blade from the ground according to the different terrains of small and medium-sized lettuce fields, and remove the leaves on the surface of the lettuce before harvesting, keep the blade as close to the ground as possible during harvesting, and transport the lettuce safely and smoothly after harvesting. The device is used to fill the broad development space of miniaturized lettuce harvesting devices.

[0049] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A harvesting method based on a semi-automatic lettuce harvesting device, characterized in that: The semi-automatic lettuce harvesting device comprises a frame (6), a four-wheel chassis (3), and the following components mounted on the frame (6): A leaf removal mechanism (1), the leaf removal mechanism (1) comprising an up-and-down moving assembly (11) and a leaf removal assembly (12); the leaf removal assembly (12) comprising a fine leaf removal assembly and a coarse leaf removal ring at the bottom; the fine leaf removal assembly comprising a DC brushless motor (108), a pinion (114) and an outer gear ring (113), and a flexible leaf removal part is arranged on the inner side of the outer gear ring (113); An adjustable straight blade disc mechanism (2) comprises an electric lead screw assembly and a straight blade disc mechanism, wherein the straight blade disc mechanism comprises a straight blade (212), a second DC brushless motor (209), a blade arm (203), and a plurality of electromagnetic suction cups; as well as A lettuce gripping and conveying mechanism (4) and a collecting basket (5) located below the output end thereof; The harvesting method based on the semi-automatic lettuce harvesting device comprises the following steps: S10: Turn on the power, the leaf removal assembly is lifted to the highest position by the up-and-down moving assembly, and the operator determines the height of the straight blade from the ground and adjusts it to a suitable height; the operator then uses the handrail on the frame to control the direction of the device and pushes the device into the harvesting area, aiming at the area where the lettuce is to be harvested; S20: The operator uses the naked eye to align the coarse defoliation ring with the lettuce to be harvested at the rear end of the device, and presses the normally open button to operate the defoliation mechanism. The vertical moving assembly drives the defoliation assembly to first descend to the lowest position, and at the same time, the DC brushless motor drives the gear set to rotate, driving the flexible defoliation parts to rotate at high speed; the defoliation mechanism stays at the lowest position for a few seconds, and then is lifted to the highest position by the vertical moving assembly. The DC brushless motor stops running, and the normally open switch of the defoliation device is released; S30: The operator pushes the device forward using the handrail, and at the same time turns on the main switch of the lettuce clamping and conveying mechanism and the DC brushless motor 2 to operate the left and right belts of the lettuce clamping and conveying mechanism and the DC brushless motor 2 of the flat blade mechanism; S40: The operator determines whether the straight blade operates normally. If the straight blade operates normally, the DC brushless motor 2 drives the straight blade to rotate at high speed; at the same time, the left and right belts are reversed at the same speed to clamp the lettuce to be harvested and transport it backward; S50: determining whether the lettuce to be harvested is harvested by the straight blade, and if harvesting is completed, the harvested lettuce is transported to a rear collection basket through a lettuce clamping and conveying mechanism; S60: Determine whether the harvested lettuce has reached the rear collection basket. If it has, the operator will turn off the main switch of the lettuce clamping and conveying mechanism and the DC brushless motor 2; the electromagnetic suction cup will be powered on for a few seconds and then turned off to stop the straight blade from rotating, and the harvesting operation is completed.

2. The harvesting method based on the semi-automatic lettuce harvesting device according to claim 1, characterized in that: The following steps are also included: S12: When the operator determines that the straight blade is too low from the ground or the height is insufficient, if the height is insufficient, the blade raising button is pressed and the straight blade is raised; if the height is too high, the blade lowering button is pressed and the straight blade is lowered to a suitable position.

3. The harvesting method based on the semi-automatic lettuce harvesting device according to claim 1, characterized in that: The following steps are also included: S14: the operator selectively adopts labor-saving pushing; when the operator needs to push with labor-saving, the operator presses the normally open button of the driving power wheel on the four-wheel chassis, and the power wheel is powered on and rotates.

4. The harvesting method based on the semi-automatic lettuce harvesting device according to claim 3 is characterized in that: The method also includes the following steps: S16: If the operator does not need to use the labor-saving pushing mode, the operator releases the normally-open button of the driving power wheel on the four-wheel chassis, the power wheel is powered off and stops rotating, and the cycle ends.

5. The harvesting method based on the semi-automatic lettuce harvesting device according to claim 1, characterized in that: The method also includes the following steps: S42: when the straight blade does not operate normally, the operator turns on the blade brake switch, the DC brushless motor 2 is powered off, the electromagnetic suction cup is powered on to suck the straight blade to achieve the purpose of braking, and the driving stepper motors of the lettuce clamping and conveying mechanism are all powered off.

6. The harvesting method based on the semi-automatic lettuce harvesting device according to claim 5, characterized in that: The process also includes the following steps: S44: the operator handles the abnormal situation to restore the straight blade to normal operation, the operator turns off the blade brake switch, and then the electromagnetic suction cup is powered off, and the harvesting operation ends.

7. The harvesting method based on the semi-automatic lettuce harvesting device according to claim 1, characterized in that: The following steps are also included: S62: When the operator determines that the lettuce has not reached the rear collection basket, the process returns to step S50 and determines whether the lettuce to be harvested is harvested by the straight blade, until the harvested lettuce is transported to the rear collection basket by the lettuce clamping and conveying mechanism.

8. The harvesting method based on the semi-automatic lettuce harvesting device according to claim 1, characterized in that: The outer gear ring (113) is arranged between the upper cover plate (126) of the thrust ball bearing and the lower support plate (123), and the outer gear ring (113) is axially constrained by the upper thrust ball bearing (115) and the lower thrust ball bearing (122); in addition, a transition ring (110) is provided on the outer side of the lower thrust ball bearing (122), and the outer gear ring (113) cooperates with a plurality of deep groove ball bearings (111) mounted on the transition ring (110) in the radial direction.

9. The harvesting method based on the semi-automatic lettuce harvesting device according to claim 1, characterized in that: The flexible leaf removal part is a rubber band (139) and three supporting rib plates (109) that stretch the rubber band into a triangular shape, and the three supporting rib plates (109) are fixedly mounted on the inner side of the outer gear ring (113) respectively; or the flexible leaf removal part is a plurality of flexible blades, and the flexible blades are fixedly mounted on the inner side of the outer gear ring (113).

10. The harvesting method based on the semi-automatic lettuce harvesting device according to claim 1, characterized in that: The straight blade disc mechanism is provided with a brake and baffle integrated disc (202), and the brake and baffle integrated disc (202) is provided with a plurality of electromagnetic suction cups, the electromagnetic suction cups brake the straight blade (212) made of stainless steel or iron, and the brake and baffle integrated disc (202) has an arc-shaped baffle on its side.

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