Multifunctional automatic device for harvesting asparagus lettuce

Abstract

The invention belongs to the technical field of agricultural harvesters, and particularly relates to a multifunctional automatic device for asparagus lettuce harvesting. The multifunctional automatic device for harvesting asparagus lettuce comprises a chassis, and a harvesting device, a defoliating device and a bundling device which are arranged on the chassis, the harvesting device is used for cutting off asparagus lettuce and conveying the asparagus lettuce to the defoliating device; the defoliating device is used for defoliating asparagus lettuce and collecting asparagus lettuce leaves; the bundling device is used for carrying out automatic multi-circle bundling treatment on the lettuce after leaf removal; and a plurality of wheels are arranged on the chassis. The asparagus lettuce harvester has the advantages that asparagus lettuce harvesting efficiency can be improved, cost can be reduced, and the problem of shortage of manual labor can be effectively solved.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural harvesters, and in particular relates to a multifunctional automatic device for harvesting lettuce. Background Art

[0002] Lettuce is a common vegetable with rich nutritional value and wide market demand. Lettuce has a large yield and a wide planting area. However, as the age structure of people currently engaged in agricultural production tends to be aging, especially as a large number of rural labor forces are transferred to the secondary and tertiary industries, it is difficult to hire workers and the wages are getting higher and higher. When the market for lettuce is not good, the selling price is less than the cost. Sometimes, hiring workers to harvest will even lose more than not harvesting or selling. In the context of the agricultural industry, the income of lettuce farmers is getting lower and lower, and they will even lose money when the market is not good. According to the survey results of local agricultural production bases and the information found on the Internet, it is found that the lettuce harvesting link accounts for more than 40% of the total operation volume, and the labor cost of harvesting accounts for about 50% of the production cost. Combined with the background of the agricultural industry, the difficulty of hiring workers, high wages and poor market conditions are the fundamental reasons for the decline in farmers' income.

[0003] Therefore, it is necessary to realize the mechanization and modernization of lettuce harvesting, and it is very important to design a harvester suitable for lettuce harvesting. The multifunctional automatic device designed for lettuce harvesting can complete the harvesting steps of lettuce harvesting, leaf removal, leaf collection, bundling, and subsequent residual processing.

[0004] For example, a lettuce harvesting and bundling machine described in a Chinese patent document with application number CN202322158428.6 includes: a bundling main machine, two groups of through holes are provided on one side of the top of the bundling main machine, and a bundling frame is fixedly installed on the outer side of the through holes, a rope groove is provided on the inner wall of the bundling frame, multiple groups of weighing sensors are fixedly installed on one side of the top of the bundling main machine, and a weighing plate is fixedly installed on the top of the weighing sensor, a marking machine is fixedly installed on the other side of the bundling frame, and a marking outlet is provided on the other side of the marking machine, and support frames are fixedly installed on both sides of the bottom of the bundling main machine. Although the combination of various structures allows the baler to bundle the lower and upper parts of the lettuce at the same time, thus achieving the function of completing the bundling of the lettuce in one go and improving the efficiency of harvesting and bundling the lettuce, and the baler can weigh the lettuce after bundling and mark the weight of the lettuce, its disadvantage is that the staff needs to control the packaging by controlling the switch and stepping on the pedal at the same time, and manual judgment is required for the operation, which is prone to misoperation or improper operation, which may affect the packaging effect or cause safety hazards. Summary of the invention

[0005] The present invention aims to overcome the problems of low efficiency, high labor intensity and high cost in the existing lettuce harvesting method in the prior art, and provides a multifunctional automated device for lettuce harvesting which can improve the lettuce harvesting efficiency, reduce costs and effectively solve the shortage of manual labor.

[0006] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:

[0007] The multifunctional automated device for harvesting lettuce comprises a chassis, a harvesting device, a defoliating device and a baling device arranged on the chassis; the harvesting device is used to cut the lettuce and transport it to the defoliating device; the defoliating device is used to remove the leaves of the lettuce and collect the lettuce leaves; the baling device is used to automatically perform multi-circle baling on the defoliated lettuce; and a plurality of wheels are installed on the chassis.

[0008] Preferably, the harvesting device adopts a front multi-row structure; the harvesting device includes a harvesting knife, a guide claw arranged above the harvesting knife, and a spring baffle arranged above the guide claw; the guide claw is used to guide the lettuce to guide the cutting knife; the spring baffle can only be opened inward to hold the lettuce; the harvesting knife adopts a crank-connecting rod mechanism to control the movement trajectory, which is used to cut the lettuce.

[0009] Preferably, the defoliation device comprises a conveying mechanism, a defoliation mechanism and a lettuce leaf collecting and processing mechanism; the lettuce is pushed upward by the conveying mechanism and enters the defoliation mechanism to be peeled off; the peeled lettuce leaves fall into the lettuce leaf collecting and processing mechanism.

[0010] Preferably, the conveying mechanism includes a frame, an axis arranged on the frame, a roller arranged on the axis, a conveyor belt arranged on the roller, baffles arranged on both sides of the conveyor belt and a rising baffle arranged on the conveyor belt; the rising baffle is used to push the lettuce to rise and enter the defoliation mechanism.

[0011] Preferably, the leaf removal mechanism includes a fixed frame, a guide device arranged on the fixed frame, a leaf stripping cylinder arranged on the fixed frame, and a sliding roller arranged above the leaf stripping cylinder; the lettuce moves upward through the conveyor belt, enters the leaf stripping cylinder through the guide device, and the lettuce leaves are stripped; the sliding roller provides subsequent power for the lettuce that has left the conveyor belt by rolling.

[0012] Preferably, the lettuce leaf collection and processing mechanism includes a collection frame and a sensor door; the sensor door is a mechanical device controlled by a sensor, used to detect the number of lettuce leaves in the collection frame, and when the number of lettuce leaves reaches a set threshold, the sensor door is automatically opened to allow the lettuce leaves to slide to a fixed location.

[0013] Preferably, the baling device comprises a packing device, a lettuce storage box arranged on the packing device, and an export platform arranged behind the packing device; the packing device automatically bundles the lettuce in the lettuce storage box in multiple circles; and the bundled lettuce is exported through the export platform.

[0014] Preferably, the packaging device includes an incomplete gear structure, a transmission gear train, a special-shaped cam mechanism, a push rod, a tape pressing block, a tape knife and a transmission positioning wheel; the incomplete gear structure includes an incomplete large gear and an incomplete small gear for tape winding; the incomplete large gear serves as a driving wheel, driving the incomplete small gear to achieve a transmission ratio of 1:1; the tape knife is located below the export platform and corresponds to the position of the tape pressing block; the transmission positioning wheel is located on the inner side of the incomplete large gear; the incomplete gear structure is connected to the transmission gear train to transmit power, and pushes the push rod through the special-shaped cam mechanism, so that the tape pressing block and the tape knife can realize the sequential operation of the three actions of cutting, pressing and pushing, thereby completing multi-turn packaging of the packaging device.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (1) The multifunctional design of the present invention completes all the steps of lettuce harvesting, and the close connection between the steps can realize the synchronous progress of harvesting, defoliation and baling; (2) The reciprocating harvesting knife and the spring baffle cooperate to harvest the lettuce, ensuring that the cut of the lettuce is smooth, which is more conducive to transportation and storage; (3) The handover power design cooperates with the guide cylinder and the leaf stripping cylinder to complete the defoliation of the lettuce; (4) The present invention provides a tape baler capable of baling lettuce, which can realize the tape baler that automatically wraps multiple turns of baling; (5) The present invention can also be provided with A remote control device is installed, and the remote control terminal is displayed through radio frequency to realize the integration of agricultural machinery control and monitoring; (6) The present invention can automatically complete the whole process of lettuce harvesting, and only requires manual remote control and monitoring, which greatly reduces the labor intensity of farmers; the multifunctional automatic device for lettuce harvesting is simple to operate, and can be applied to various terrains such as terraces and greenhouses, and has a high promotion and application value; the promotion and use of the multifunctional automatic device for lettuce harvesting can not only improve the efficiency of lettuce harvesting and reduce costs, but also effectively solve the problem of labor shortage and promote the process of agricultural modernization. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the multifunctional automated device for harvesting lettuce of the present invention;

[0017] Figure 2 A schematic diagram of a structure of the chassis assembly of the present invention

[0018] Figure 3 A schematic diagram of the structure of the harvesting device of the present invention;

[0019] Figure 4A schematic diagram of the structure of the crank-connecting rod motion mechanism of the present invention;

[0020] Figure 5 A schematic diagram of the structure of the defoliation device in the present invention;

[0021] Figure 6 A schematic diagram of the structure of the bundling device in the present invention;

[0022] Figure 7 A schematic diagram of the structure of the packaging device in the present invention;

[0023] Figure 8 A structural schematic diagram of the packaging device of the present invention from another perspective;

[0024] Fig. 9 A cross-sectional view of the multifunctional automated device for harvesting lettuce according to the present invention;

[0025] Fig.10 It is a schematic diagram of the operation of the crank-connecting rod motion mechanism of the present invention;

[0026] Fig.11 A schematic diagram of a tool displacement curve in the present invention;

[0027] Fig.12 A schematic diagram of a tool speed curve in the present invention.

[0028] In the figure: harvesting device 1, defoliating device 2, baling device 3, chassis 4, guide claw 5, spring baffle 6, harvesting knife 7, crank connecting rod mechanism 8, shaft 9, roller 10, conveyor belt 11, baffle 12, rising baffle 13, guide device 14, leaf stripping cylinder 15, sliding roller 16, sliding motor 17, packaging device 18, lettuce storage box 19, export platform 20, transmission gear train 21, special-shaped cam mechanism 22, push rod 23, tape pressing block 24, incomplete large gear 25, incomplete small gear 26, transmission positioning wheel 27, tape placement 28, tape knife placement 29, sensor 30, movable plate 31. DETAILED DESCRIPTION

[0029] In order to more clearly illustrate the embodiments of the present invention, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other accompanying drawings and other implementation methods can be obtained based on these accompanying drawings without creative work.

[0030] Example:

[0031] like Figure 1 and Figure 2As shown, the present invention provides a multifunctional automated device for harvesting lettuce, comprising a chassis 4, a harvesting device 1, a defoliating device 2 and a baling device 3 arranged on the chassis; the harvesting device is used to cut the lettuce and transport it to the defoliating device; the defoliating device is used to remove the leaves of the lettuce and collect the lettuce leaves; the baling device is used to automatically perform multi-circle baling on the defoliated lettuce; and a plurality of wheels are installed on the chassis.

[0032] Among them, the harvesting device is mainly used to guide the lettuce to the cutting knife, cut it flatly, and send it to the conveyor belt.

[0033] Agricultural cutting methods use disc cutters and reciprocating cutters. Reciprocating cutters rely on the reciprocating motion of the blade to achieve cutting. They are supported cutting with simple structure, reliable operation and strong adaptability. The disc cutter rotates in the horizontal plane and operates smoothly, but the range is narrow and the collection mechanism is more complicated. Saw blades are usually used, and the incision is uneven. Comprehensive consideration, because lettuce plants have good rigidity, the incision surface needs to be flat, and reciprocating and flat blades are used to easily form a stable incision. Therefore, a reciprocating cutter is selected.

[0034] In terms of the smoothness of the cut, the reciprocating blade has the smoothest cut, but too much impact will directly break the lettuce, too little impact will not cut the lettuce, and upright lettuce is also difficult to cut. Therefore, the corresponding harvesting device is designed based on the reciprocating blade to solve its shortcomings when used on the harvester.

[0035] The design of the lettuce harvesting structure needs to consider the cutting force required for lettuce. Based on the relevant research analysis in the collected data, it can be concluded that when cutting lettuce, the cutting force increases with the increase of displacement, and drops rapidly after reaching the peak value, while the cutting force of the stem inside the lettuce is small, and the entire cutting process is in the linear elastic deformation stage. When designing the harvesting device, it should be considered that the shear force is concentrated between 201-300N, the maximum shear force is 352.65N, and the influence of the standard deviation and coefficient of variation should be paid attention to.

[0036] According to the laboratory's test on cutting effect, when the cutting speed is low, the plant surface will be squeezed and deformed, and the cutting resistance will gradually decrease with the cutting speed. When the cutting speed is above 0.6m / s, the squeezing phenomenon on the plant surface disappears. Considering the on-site working environment, the cutting speed is set at 0.8m / s.

[0037] The harvesting device adopts a crank-connecting rod mechanism, which has the characteristics of simple structure and low cost.

[0038] like Figure 3 As shown, the harvesting device includes a guide claw 5, a spring baffle 6, and a harvesting knife 7. It adopts a front multi-row structure and can adapt to lettuce harvesting in most terrains.

[0039] Guide claws: When the vehicle is moving, the guide claws guide the scattered lettuces to the cutting knife. The guide parts of each guide claw are tightly connected, covering the entire lateral distance of the harvesting surface, and guiding the lettuces into the harvesting area through a spring baffle that can only be opened inwards.

[0040] Spring baffle. When the reciprocating knife cuts the lettuce, it will generate a certain amount of thrust in the direction of movement, which affects the cutting effect. The harvesting device is equipped with a baffle that will hold the lettuce against it. When the lettuce enters the baffle, the baffle will rebound slightly and be blocked by the limit device to form a buffer. At the same time, the lettuce pressed against the baffle is like being placed on a cutting board. The reciprocating harvesting knife can complete the harvesting of the upright lettuce. This coordinated harvesting solves the shortcomings brought by the harvesting knife. At the same time, because the baffle is slightly tilted toward the machine, the lettuce can only fall toward the conveyor belt.

[0041] The reciprocating harvesting knife adopts a crank connecting rod mechanism 8 to control the motion trajectory. Figure 4 As shown. Each set of two harvesting devices is controlled by a drive system. The linear guide rail is used to ensure that the harvesting knife moves stably with little resistance. The power is controlled by an adjustable speed motor, and the speed can be adjusted according to the situation of the lettuce to ensure smooth harvesting.

[0042] Furthermore, in order to complete the work of removing the lettuce leaves on the machine and the subsequent processing of the lettuce leaves, the project team designed a defoliation device for the harvester, such as Figure 5 The defoliation device includes a conveying mechanism, a defoliation mechanism and a lettuce leaf collecting and processing mechanism; the lettuce is pushed upward by the rising baffle of the conveyor belt, passes through the guide device, enters the leaf stripping cylinder to strip the lettuce leaves (so that it falls into the lettuce leaf collecting device), and the upper sliding roller rolls to provide subsequent power for the lettuce that has left the conveyor belt, so that the lettuce falls into the convergence slope at the rear.

[0043] Among them, Figure 5 As shown, the conveying mechanism includes a frame, an axis 9, a roller 10, a conveyor belt 11, a baffle 12 and a rising baffle 13. The rising baffle designed on the conveyor belt is used to push the lettuce to rise and enter the defoliation mechanism. The interval between the rising baffles is greater than the length of the lettuce to ensure the order of defoliation, and the cutting rhythm of the lettuce is controlled by adjusting the walking speed to ensure that the lettuce will not be stacked.

[0044] When the conveyor belt pushes the lettuce into the leaf stripping cylinder for leaf removal, the lettuce stems are still in the leaf stripping cylinder when the push plate is pushed away. For this purpose, a roller and conveyor belt intersecting power design is designed. The lettuce is pushed into the leaf stripping cylinder through the conveyor belt. When it is pushed to a certain distance, the outer ring of the lettuce will be clamped by the sliding roller, and the lettuce will be brought to the inclined plate at the rear through the rotation of the motors on the two sliding rollers.

[0045] Further, such as Figure 5As shown, the leaf stripping mechanism includes a fixed frame, a guide device 14, a leaf stripping cylinder 15, a sliding roller 16 and a sliding motor 17. The guide device and the leaf stripping cylinder are installed on the fixed frame, and the fixed frame is designed to be detachable. The sliding motor is connected to the sliding roller (the sliding motor drives the sliding roller to roll), and the sliding motor and the sliding roller slide together. The lettuce moves upward through the conveyor belt, passes through the guide cone, enters the leaf stripping cylinder, and the lettuce leaves are stripped (so that it falls into the lettuce leaf collection device), and the upper sliding roller rolls to provide subsequent power for the lettuce that is separated from the conveyor belt.

[0046] Further, such as Fig. 9 As shown, the lettuce leaf collection and processing mechanism includes a collection frame and a sensor door. The collection frame is made of corrosion-resistant material and has sufficient capacity to accommodate a large number of lettuce leaves. The sensor door is a mechanical device controlled by a sensor 30, which can detect the number of lettuce leaves in the collection frame, and when the number of lettuce leaves reaches a certain level, the sensor door is automatically opened to allow the lettuce leaves to slide to a fixed location, that is, Fig. 9 The movable plate 31 in the middle is convenient for operators to collect in a centralized manner.

[0047] Further, such as Figure 6 As shown, the baling device includes a baling device 18, a lettuce storage box 19 arranged on the baling device, and an export platform 20 arranged behind the baling device; the baling device automatically baled the lettuce in the lettuce storage box for multiple circles; the baled lettuce was exported through the export platform.

[0048] A partition plate (or partition column) is provided above the lettuce storage box, and a push plate is provided inside the lettuce storage box. The partition plate can rise and fall. When falling, the partition plate becomes an inclined plate, which is used to allow the lettuce processed by the defoliation mechanism to enter the lettuce storage box from the inclined surface of the inclined plate. When a certain amount of lettuce enters the lettuce storage box, the partition plate will rise to isolate the lettuce on the inclined plate. At the same time, the push plate will push the lettuce into the packaging device for bundling, and push it out after bundling is completed. After the push plate returns to its position, the partition plate will be retracted.

[0049] For the packaging of lettuce and other stems, the present invention designs a tape packaging device that can realize automatic multi-turn bundling, such as Figure 7 and Figure 8 shown.

[0050] The packaging device includes an incomplete gear structure, a transmission gear train 21, a special-shaped cam mechanism 22, a push rod 23, a tape pressing block 24, a tape cutter, a transmission positioning wheel 27, a counter, and an induction switch. The incomplete gear structure includes an incomplete large gear 25 and an incomplete small gear 26 for winding the tape. Figure 7 and Figure 8As shown, the packing tape is installed at the tape placement 28. The tape cutter is located below the output platform and corresponds to the position of the tape pressing block. The tape cutter is also controlled by another set of special-shaped cam mechanisms. When the tape needs to be cut, the special-shaped cam is used to push the push rod to extend the tape cutter and cut the tape from below the tape pressing block. When the tape cutter is not in use, it is retracted to the tape cutter placement 29.

[0051] In addition, an incomplete gear structure is used to realize a transmission ratio of 1:1 with the large gear as the driving wheel driving the small gear. This is because the speed ratio of the small gear and the cam is the number of winding circles of the tape. In order to make the overall structure small, the small gear cannot be too large. The large gear is used for packaging, so it must have a large diameter to wrap the lettuce. In order to make the transmission ratio of the large and small gears 1, only incomplete gears can be used. The subsequent gear train transmits power, and the special-shaped cam is used to push the push rod to allow the tape block and the tape knife to cut the tape, compact the tape, and push out the lettuce in sequence, thereby completing the multi-turn packaging of the baler. It can be designed to use sliding gears to change the transmission ratio of the gear train to mechanically change the number of turns of a single package, or it can be packaged multiple times through the control system.

[0052] In addition, the movement of the cutting tool in the reciprocating harvester is realized by a crank-connecting rod mechanism. According to the previous analysis, the crankshaft performs circular rotation, and the movement of the connecting rod is more complicated. Since the tool is controlled by the end of the connecting rod, only the movement of the two ends of the connecting rod is analyzed.

[0053] The schematic diagram of the motion mechanism is as follows Fig.10 When the power from the motor drives the crank AB to rotate, the cutter head is pushed to reciprocate through the connecting rod.

[0054] (1) Calculation of tool movement position and speed and determination of crank-connecting rod movement mechanism dimensions

[0055] 1) Design parameters

[0056] According to the performance index and cutting device parameter analysis, the lettuce size is about 40mm and the movement speed is above 0.8m / s. The area with the most difficulty in cutting is the initial surface cutting.

[0057] According to the size of the lettuce, the maximum displacement is initially determined to be 150 mm, that is, the crank is 75 mm. Considering the equipment design space, the connecting rod length is set to 225 mm.

[0058] 2) Tool displacement calculation

[0059] Tool displacement formula:

[0060] X=r[(1-cosα)+λ (1-cos2α) / 4] (1)

[0061] Where: X is displacement in mm, λ = r / l = 75 / 225 = 1 / 3, crank radius r = 75 mm, α is crank angle. Then the calculation can be obtained as follows Fig.11 The curve shown.

[0062] 3) Calculation of tool travel speed

[0063] Tool speed formula:

[0064] V=rω (sinα+λsin2α / 2) (2)

[0065] In the formula: V is the velocity m / s, ω is the angular velocity, ω=nπ / 30. Calculation yields Fig.12 Tool speed curve.

[0066] 3) Data verification analysis

[0067] Depend on Fig.11 and Fig.12 As shown, the analysis is performed. Under the preset parameters, the tool speed reaches the required 0.8m / s or above in 50% of the time. Fig.11 The calculation parameters of the stroke are that when the speed reaches the requirement, the stroke distance is 150 / 2, that is, more than 75mm.

[0068] Since the stroke of 75mm is 1.75 times of the diameter of 40mm, the data required by the experiment can be fully achieved within the stroke range of cutting lettuce, and a diameter error of 1.75 times is allowed. However, in terms of the control of the cutting point, the initial position needs to be adjusted to achieve the best cutting effect.

[0069] In addition, the analysis of conveyor belt transmission and leaf removal power is as follows:

[0070] The lettuce is transported by a conveyor belt. When the conveyor belt is sent to the defoliation device, the lettuce is pushed out of the defoliation ring by the push of the conveyor belt baffle. Since the lettuce is relatively light, a large force is required to push the lettuce through the defoliation ring, so the transmission force of the transmission system is mainly calculated based on this.

[0071] (1) Calculation of conveyor belt transmission power

[0072] The defoliation sleeve was fixed with a spring tensioner to test the force and speed of defoliation of lettuce. According to experimental tests, the force of the conveyor belt baffle to push the fresh lettuce through the defoliation sleeve is 0.2-0.5kg, and the speed of the lettuce passing through the defoliation sleeve is 300mm / s, which is about the length of one lettuce per second. Considering the resistance caused by a small amount of fallen leaves during the defoliation process, as well as the influence of the deflection of the lettuce stem direction, the safety factor is set to 2, the baffle thrust is determined to be 5kg, and the forward speed of the belt is 300mm / s.

[0073] The calculation formula for setting the driving torque is as follows:

[0074] T=R1×F (3)

[0075] Where: T is the driving torque (N·M); R1 is the radius of pulley 1 (driving wheel) (M); F is the baffle thrust (N).

[0076] Substituting F=5×9.8N and R1=0.02M, we obtain the driving torque T of 0.98N·M.

[0077] The power calculation formula of the motor is set as follows:

[0078] P=K A ×T×n / 9550 (4)

[0079] Where: P represents the power of the motor (kw); n represents the speed of the driving wheel (rpm); K A Indicates the operating condition coefficient;

[0080] The belt's forward speed is about 300 mm / s, the pulley's diameter is 40 mm, and the driving wheel speed n is determined to be 150 rpm. The force of the conveyor belt is fluctuating, especially when pushing the lettuce to remove leaves, the load changes greatly, so KA is taken as 2.

[0081] The calculation shows that P = 0.031KW, and the motor power is selected to be 0.04KW, equipped with a planetary reducer (according to the transmission efficiency of 98%), and the output speed is 150rpm.

[0082] (2) Conveyor belt specifications

[0083] The conveyor belt width is required to accommodate a single piece of leaf lettuce after cutting. Based on the maximum diameter of the lettuce stem of 45mm and the main part of the leaf unfolding of more than 3 times, the design width of the conveyor belt is set at 160mm.

[0084] Required belt length

[0085]

[0086] In the formula: a represents the center distance, d1 represents the diameter of pulley 1, d2 represents the diameter of pulley 2, n1 represents the speed of the small pulley (r / min), and v represents the belt speed (m / s). According to the transmission length requirements, the initial center distance is 470mm, and the diameters of pulleys 1 and 2 are both 40mm.

[0087] Substituting the values ​​into the above formula (5) we can get:

[0088] L=1065.66mm

[0089] (3) Pulley angle

[0090]

[0091] Where: The diameters of pulleys 1 and 2 are both 40 mm, and the center distance is 1065.66 mm;

[0092] Substituting the values ​​into the above formula (6) we can get:

[0093] α1=1800

[0094] (4) Cross-sectional area of ​​the belt

[0095]

[0096] Where: K A Indicates the operating coefficient; P0 indicates the basic rated power that the tape can transmit per unit cross section; K α Indicates the wrap angle correction factor; K β Indicates the transmission layout coefficient; K A Take 1.0, P0 take 3.1, K α Take 0.97, K β Take 0.8.

[0097] Substituting the values ​​into the above formula (7) we can get:

[0098] A=2.91mm 2

[0099] (5) Force acting on the shaft

[0100]

[0101] Where: σ0 represents the preload stress of the belt (MPa), recommended σ0=1.8MPa, A=2.91mm 2 ,α1=180 0 ;

[0102] Substituting the values ​​into the above formula (8) we can get:

[0103] F r =12.56N

[0104] The working principle of the present invention is as follows:

[0105] The lettuce is harvested by the recognition device. The movement path is manually corrected through the image transmitted by the camera of the recognition device. The lettuce enters the harvesting device to complete the harvesting and is poured into the conveyor belt. The push plate on the conveyor belt pushes the lettuce into the defoliation mechanism. The lettuce is rolled into the conveying inclined plate by the roller above the defoliation mechanism. The lettuce enters the lettuce storage box from the inclined surface. When a certain amount of lettuce enters the lettuce storage box, the isolation plate will rise to isolate the lettuce on the inclined plate. At the same time, the push plate will push the lettuce into the packaging device and the pressure plate will press down to bundle. After the bundling is completed, it is pushed out. After the push plate returns to its position, the isolation plate is retracted, and the lettuce enters the lettuce storage box and repeats the above steps. The lettuce leaves removed by the defoliation mechanism will fall into the collection frame. When a certain amount is collected, the side panel door will open to discharge the lettuce leaves. When the trolley is driving, the residual rhizome removal mechanism under the bottom of the vehicle will pull out the residual rhizomes in the ground by the roots and gather them on both sides.

[0106] The multifunctional design of the present invention completes all the steps of lettuce harvesting, and at the same time, the steps are closely connected to realize the synchronous progress of harvesting, leaf removal and bundling; the reciprocating harvesting knife cooperates with the spring baffle to harvest the lettuce, ensures that the cut of the lettuce is smooth, and is more conducive to transportation and storage; the handover power design cooperates with the guide cylinder and the leaf stripping cylinder to complete the leaf removal of the lettuce; the present invention provides a tape baler that can bundle lettuce, and can realize the tape baler that automatically wraps multiple circles of packaging; the present invention can also be provided with a remote control device, and realize the integration of agricultural machinery control and monitoring through radio frequency display on the remote control terminal; the present invention can automatically complete all the steps of lettuce harvesting, and only requires manual remote control and monitoring, which greatly reduces the labor intensity of farmers; the multifunctional automatic device for lettuce harvesting is simple to operate, can be applicable to various terrains such as terraces and greenhouses, and has high promotion and application value; the popularization and use of the multifunctional automatic device for lettuce harvesting can not only improve the lettuce harvesting efficiency and reduce costs, but also effectively solve the problem of labor shortage and promote the process of agricultural modernization.

[0107] The above description is only a detailed description of the preferred embodiments and principles of the present invention. For ordinary technicians in this field, according to the ideas provided by the present invention, there will be changes in the specific implementation methods, and these changes should also be regarded as the protection scope of the present invention.

Claims

1. A multifunctional automated device for harvesting lettuce, characterized in that: The utility model comprises a chassis, a harvesting device, a defoliating device and a baling device arranged on the chassis; the harvesting device is used for cutting the lettuce and conveying it to the defoliating device; the defoliating device is used for defoliating the lettuce and collecting the lettuce leaves; the baling device is used for automatically baling the defoliated lettuce in multiple circles; a plurality of wheels are arranged on the chassis.

2. The multifunctional automated device for harvesting lettuce according to claim 1, characterized in that: The harvesting device adopts a front multi-row structure; the harvesting device includes a harvesting knife, a guide claw arranged above the harvesting knife, and a spring baffle arranged above the guide claw; the guide claw is used to guide the lettuce to guide the cutting knife; the spring baffle can only be opened inwards to hold the lettuce; the harvesting knife adopts a crank-connecting rod mechanism to control the movement trajectory, and is used to cut the lettuce.

3. The multifunctional automated device for harvesting lettuce according to claim 2, characterized in that: The defoliating device comprises a conveying mechanism, a defoliating mechanism and a lettuce leaf collecting and processing mechanism; the conveying mechanism pushes the lettuce upward and enters the defoliating mechanism to peel off the lettuce leaves; the peeled lettuce leaves fall into the lettuce leaf collecting and processing mechanism.

4. The multifunctional automated device for harvesting lettuce according to claim 3, characterized in that: The conveying mechanism includes a frame, an axis arranged on the frame, a roller arranged on the axis, a conveyor belt arranged on the roller, baffles arranged on both sides of the conveyor belt and a rising baffle arranged on the conveyor belt; the rising baffle is used to push the lettuce to rise and enter the defoliation mechanism.

5. The multifunctional automated device for harvesting lettuce according to claim 4, characterized in that: The leaf stripping mechanism includes a fixed frame, a guide device arranged on the fixed frame, a leaf stripping cylinder arranged on the fixed frame, and a sliding roller arranged above the leaf stripping cylinder; the lettuce moves upward through the conveyor belt, enters the leaf stripping cylinder through the guide device, and the lettuce leaves are stripped; the sliding roller provides subsequent power for the lettuce that leaves the conveyor belt by rolling.

6. The multifunctional automated device for harvesting lettuce according to claim 5, characterized in that: The lettuce leaf collection and processing mechanism includes a collection frame and a sensor door; the sensor door is a mechanical device controlled by a sensor, which is used to detect the number of lettuce leaves in the collection frame, and when the number of lettuce leaves reaches a set threshold, the sensor door is automatically opened to allow the lettuce leaves to slide to a fixed location.

7. The multifunctional automated device for harvesting lettuce according to claim 6, characterized in that: The baling device comprises a packing device, a lettuce storage box arranged on the packing device, and an export platform arranged behind the packing device; the packing device automatically baled the lettuce in the lettuce storage box in multiple circles; and the baled lettuce was exported through the export platform.

8. The multifunctional automated device for harvesting lettuce according to claim 7, characterized in that: The packaging device includes an incomplete gear structure, a transmission gear train, a special-shaped cam mechanism, a push rod, a tape pressing block, a tape knife and a transmission positioning wheel; the incomplete gear structure includes an incomplete large gear and an incomplete small gear for tape winding; the incomplete large gear serves as a driving wheel, driving the incomplete small gear to achieve a transmission ratio of 1:1; the tape knife is located below the lead-out platform and corresponds to the position of the tape pressing block; the transmission positioning wheel is located on the inner side of the incomplete large gear; the incomplete gear structure is connected to the transmission gear train to transmit power, and the push rod is pushed by the special-shaped cam mechanism, so that the tape pressing block and the tape knife can realize the sequential operation of the three actions of cutting, pressing and pushing, thereby completing multi-turn packaging of the packaging device.

Images