Small full-automatic tobacco leaf harvesting machine

Abstract

The invention relates to the technical field of tobacco harvesting machinery, and provides a small-sized full-automatic tobacco harvesting machine which comprises a crawler power chassis, a tobacco picking mechanism, a tobacco conveying mechanism, a tobacco storage mechanism, a power mechanism and a control system, and the tobacco conveying mechanism, the tobacco storage mechanism and the power mechanism are all arranged on the crawler power chassis; the tobacco leaf picking mechanism comprises an upper lead screw sliding table module, a lower lead screw sliding table module, a grabbing mechanism and a telescopic mechanism, the upper lead screw sliding table module is connected to the crawler power chassis, the lower lead screw sliding table module is connected to the upper lead screw sliding table module, one end of the telescopic mechanism is connected to the lower lead screw sliding table module, and the other end of the telescopic mechanism is connected to the upper lead screw sliding table module. The grabbing mechanism is connected to the other end of the telescopic mechanism, and the height of the telescopic mechanism is adjusted through the upper lead screw sliding table module and the lower lead screw sliding table module. The tobacco picking device has the advantages that the picking mechanism can effectively recognize and select proper tobacco plants, it is guaranteed that each layer of tobacco leaves are completely picked, the overall quality of the tobacco leaves is effectively improved, and losses caused by misoperation are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of tobacco harvesting machinery, and more specifically, to a small-sized fully automatic tobacco leaf harvesting machine. Background Art

[0002] Tobacco leaf harvesting is one of the important links in tobacco production. The harvesting time and harvesting method will affect the yield and quality of tobacco leaves. The tobacco leaf maturity period coincides with summer, when the weather is hot, the working environment is harsh, the labor intensity is high, the operation efficiency is low, and the agronomic requirements are complex. When a large amount of tobacco leaves need to be harvested, manual collection is difficult to meet the demand and it is easy to miss the best harvesting time. Therefore, the development of machinery suitable for tobacco leaf harvesting in hilly and mountainous areas is one of the important measures to cope with labor shortages and adapt to large-scale development.

[0003] There are a small number of semi-mechanized and mechanized tobacco leaf harvesters and tobacco leaf transfer machines in use. They are more efficient than manual work and can complete the harvesting operation in a timely manner. However, due to their large size, complex structure, and easy damage, the existing models are difficult to operate in the southern hilly tobacco-growing areas. This has restricted the development of the tobacco industry to a certain extent.

[0004] Because the leaves of the same tobacco plant mature at different times, leaves in different layers need to be harvested in layers according to their maturity. Therefore, the harvesting machinery is required to be able to harvest the tobacco leaves in layers in batches. Summary of the invention

[0005] In order to solve one or more of the above-mentioned problems, the present invention provides a small fully automatic tobacco leaf harvester, which has a simple structure and a small size, can achieve layered harvesting, ensure the quality of tobacco leaf harvesting, and improve the efficiency of tobacco leaf harvesting.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] Provided is a small fully automatic tobacco harvester, comprising a crawler power chassis, a tobacco picking mechanism, a tobacco conveying mechanism, a tobacco storage mechanism, a power mechanism and a control system, wherein the tobacco conveying mechanism, the tobacco storage mechanism and the power mechanism are all arranged on the crawler power chassis, the tobacco picking mechanism comprises an upper screw slide module, a lower screw slide module, a gripping mechanism and a plurality of telescopic mechanisms, the upper screw slide module is connected to the crawler power chassis, the lower screw slide module is connected to the upper screw slide module, one end of the telescopic mechanism is connected to the lower screw slide module, the gripping mechanism is connected to the other end of the telescopic mechanism, the height of the telescopic mechanism is adjusted by the upper screw slide module and the lower screw slide module, and the control system is used to control the upper screw slide module, the lower screw slide module, the telescopic mechanism, the gripping mechanism and the crawler power chassis.

[0008] The control system can control the lifting and lowering of the telescopic mechanism and the grasping mechanism and the movement of the crawler power chassis.

[0009] Furthermore, the crawler power chassis includes a gantry frame and a crawler unit, the crawler unit is arranged on both sides of the bottom of the gantry frame; the upper screw slide module is connected to the top of the gantry frame; the tobacco conveying mechanism is connected to the inner side of the crawler unit; the tobacco storage mechanism, power mechanism and control system are all arranged on the crawler unit.

[0010] Specifically, the crawler power chassis can adjust the width between the two crawler units and the height of the gantry chassis according to the actual working environment;

[0011] Further, the upper screw slide module includes a guide rail a, a screw rod a, a slider a and a motor a, the guide rail a is connected to the top of the gantry frame, the screw rod a is arranged in the guide rail a, the slider a is sleeved on the screw rod a and connected to the guide rail a, and the motor a is used to drive the screw rod a;

[0012] The lower screw slide module comprises a guide rail b, a screw rod b, a slider b and a motor b, wherein the guide rail b is connected to the slider a, the screw rod b is arranged in the guide rail b, the slider b is sleeved on the screw rod b and connected to the guide rail b, and the motor b is used to drive the screw rod b;

[0013] The slider b is connected to one end of the telescopic mechanism.

[0014] Furthermore, the slider b is connected to the telescopic mechanism via a rotating mechanism, and the rotating mechanism is used to realize horizontal rotation of the telescopic mechanism.

[0015] Furthermore, the telescopic mechanism includes a main arm and a telescopic arm, one end of the main arm is connected to the slider b, and the other end is connected to the telescopic arm, one end of the telescopic arm connected to the main arm is sleeved with a return spring a, and the other end is connected to the grasping mechanism.

[0016] Specifically, one end of the return spring a connected to the main arm protrudes, limiting the range of movement of the return spring a.

[0017] Furthermore, the grabbing mechanism comprises a semicircular arc structure a and a semicircular arc structure b, one end of the semicircular arc structure a is connected to the telescopic arm via a connecting section, and the other end is connected to the semicircular arc structure b;

[0018] A steering gear is provided at the connection between the semicircular arc structure a and the semicircular arc structure b, and a contact sensor device is provided on the connection section.

[0019] Furthermore, the tobacco conveying device includes a transverse conveying mechanism and an inclined conveying mechanism. The transverse conveying mechanism is horizontally installed on the inner side of the track unit, and the inclined conveying mechanism is connected to the transverse conveying mechanism. The transverse conveying mechanism is used to transfer the picked tobacco leaves to the inclined conveying mechanism, and the inclined conveying mechanism is used to transfer the tobacco leaves to the tobacco storage mechanism.

[0020] Furthermore, the inclined conveying mechanism includes an inclined conveying mechanism b and an inclined conveying mechanism c, both of which are connected to the transverse conveying mechanism. The inclined conveying mechanism b is arranged higher than the inclined conveying mechanism c. The lower part of the two forms an input port for tobacco leaves, and the upper part of the two forms an output port for tobacco leaves. A transmission gap is provided between the two. The top of the tobacco storage mechanism is provided with an opening, and the opening matches the output port.

[0021] Specifically, the tobacco leaves enter the transmission gap through the input port, come out from the output port, and then enter the tobacco storage mechanism through the opening.

[0022] Furthermore, the lateral conveying mechanism includes a belt mounting frame a, a belt a, an active roller a, a driven roller a and a driving motor a, the belt a is installed on the belt mounting frame a, the driving motor a is used to drive the active roller a, the active roller a drives the belt a and the driven roller a to roll, and the inclined conveying mechanism is connected to the belt mounting frame a.

[0023] Furthermore, the power mechanism includes a lithium battery and a main motor, both of which are connected to a control system, and the main motor is used to drive the tracked power chassis.

[0024] The present invention has the following beneficial effects compared with the prior art:

[0025] The small fully automatic tobacco harvester of the present invention has a simple structure and a compact body, and is specially designed for the agricultural machinery and agronomic needs of tobacco-growing areas in hilly and mountainous areas. Its unique tobacco leaf picking mechanism realizes automatic layered harvesting, significantly improves the picking efficiency, and reduces the breakage rate of tobacco leaves. The mechanism adopts advanced sensing and control technology to ensure flexible operation under complex terrain conditions and can adapt to the requirements of small turning radius.

[0026] Through precise design, the picking mechanism can effectively identify and select the appropriate tobacco plants, ensuring that each layer of tobacco leaves is fully picked. This efficient layered harvesting method not only optimizes the operation process, but also effectively improves the overall quality of tobacco leaves and reduces losses caused by improper operation. The overall design aims to improve the efficiency of tobacco leaf harvesting, ensure that the equipment can still maintain stable working performance under changing terrain and environmental conditions, and meet the high standards of agricultural production. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1It is a schematic diagram of the overall three-dimensional structure of a fully automatic tobacco leaf harvester according to an embodiment of the present invention.

[0028] Figure 2 It is a front view structural schematic diagram of a fully automatic tobacco leaf harvester according to an embodiment of the present invention.

[0029] Figure 3 This is a schematic structural diagram of a tobacco leaf picking mechanism of a fully automatic tobacco leaf harvester according to an embodiment of the present invention.

[0030] Figure 4 It is a structural schematic diagram of the telescopic mechanism, contact sensor device and gripping mechanism of the fully automatic tobacco harvester according to an embodiment of the present invention.

[0031] Figure 5 It is a cross-sectional view of the telescopic device of the fully automatic tobacco harvester according to an embodiment of the present invention.

[0032] Figure 6 It is a structural schematic diagram of the tobacco conveying mechanism of the fully automatic tobacco harvester according to an embodiment of the present invention.

[0033] Figure 7 Schematic diagram of the structure of the rotating mechanism of an embodiment of the present invention.

[0034] Reference numerals:

[0035] 1. crawler power chassis, 11. crawler unit, 12. gantry frame, 13 power unit and control system;

[0036] 2. Tobacco leaf picking mechanism, 21. Upper screw slide module, 211. Screw a, 212. Slider a, 213. Guide rail a, 214. Motor a, 22. Lower screw slide module, 221. Screw b, 222. Slider b, 223. Guide rail b, 224. Motor b, 23. Telescopic mechanism, 231. Main arm, 232. Telescopic arm, 233. Return spring a, 24. Contact sensor, 241. Sensor housing, 242. Contact sensor, 243. Return spring b, 25. Grasping mechanism, 251. Servo, 252. Semicircular arc structure a, 253. Semicircular arc structure b, 254. Soft rubber sleeve a, 255 Soft rubber sleeve b, 26. Rotation mechanism, 27. Return spring c;

[0037] 3. Tobacco leaf conveying mechanism, 31. Transverse conveying mechanism, 311. Driving motor a, 312. Belt mounting frame a, 313. Active roller a, 314. Driven roller a, 315. Belt a, 32. Inclined conveying mechanism b, 321. Driving motor b, 322. Belt mounting frame b, 323. Active roller b, 324. Driven roller b, 325. Belt b, 33. Inclined conveying mechanism b, 331. Driving motor c, 332. Belt mounting frame c, 333. Active roller c, 334. Driven roller c, 335. Belt c;

[0038] 4. Tobacco storage mechanism. DETAILED DESCRIPTION

[0039] The drawings of the present invention are only for illustrative purposes and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0040] The present invention provides a small-sized fully automatic tobacco harvester, comprising a crawler power chassis, a tobacco picking mechanism, a tobacco conveying mechanism, a tobacco storage mechanism, a power mechanism and a control system, wherein the tobacco conveying mechanism, the tobacco storage mechanism and the power mechanism are all arranged on the crawler power chassis, the tobacco picking mechanism comprises an upper screw slide module, a lower screw slide module, a gripping mechanism and a plurality of telescopic mechanisms, the upper screw slide module is connected to the crawler power chassis, the lower screw slide module is connected to the upper screw slide module, one end of the telescopic mechanism is connected to the lower screw slide module, the gripping mechanism is connected to the other end of the telescopic mechanism, the height of the telescopic mechanism is adjusted by the upper screw slide module and the lower screw slide module, and the control system is used to control the upper screw slide module, the lower screw slide module, the telescopic mechanism, the gripping mechanism and the crawler power chassis.

[0041] Furthermore, the crawler power chassis includes a gantry frame and a crawler unit, the crawler unit is arranged on both sides of the bottom of the gantry frame; the upper screw slide module is connected to the top of the gantry frame; the tobacco conveying mechanism is connected to the inner side of the crawler unit; the tobacco storage mechanism, power mechanism and control system are all arranged on the crawler unit.

[0042] Further, the upper screw slide module includes a guide rail a, a screw rod a, a slider a and a motor a, the guide rail a is connected to the top of the gantry frame, the screw rod a is arranged in the guide rail a, the slider a is sleeved on the screw rod a and connected to the guide rail a, and the motor a is used to drive the screw rod a;

[0043] The lower screw slide module comprises a guide rail b, a screw rod b, a slider b and a motor b, wherein the guide rail b is connected to the slider a, the screw rod b is arranged in the guide rail b, the slider b is sleeved on the screw rod b and connected to the guide rail b, and the motor b is used to drive the screw rod b;

[0044] The slider b is connected to one end of the telescopic mechanism.

[0045] Furthermore, the slider b is connected to the telescopic mechanism via a rotating mechanism, and the rotating mechanism is used to realize horizontal rotation of the telescopic mechanism.

[0046] Furthermore, the telescopic mechanism includes a main arm and a telescopic arm, one end of the main arm is connected to the slider b, and the other end is connected to the telescopic arm, one end of the telescopic arm connected to the main arm is sleeved with a return spring a, and the other end is connected to the grasping mechanism.

[0047] Specifically, one end of the return spring a connected to the main arm protrudes, limiting the range of movement of the return spring a.

[0048] Furthermore, the grabbing mechanism comprises a semicircular arc structure a and a semicircular arc structure b, one end of the semicircular arc structure a is connected to the telescopic arm via a connecting section, and the other end is connected to the semicircular arc structure b;

[0049] A steering gear is provided at the connection between the semicircular arc structure a and the semicircular arc structure b, and a contact sensor device is provided on the connection section.

[0050] Furthermore, the tobacco conveying device includes a transverse conveying mechanism and an inclined conveying mechanism. The transverse conveying mechanism is horizontally installed on the inner side of the track unit, and the inclined conveying mechanism is connected to the transverse conveying mechanism. The transverse conveying mechanism is used to transfer the picked tobacco leaves to the inclined conveying mechanism, and the inclined conveying mechanism is used to transfer the tobacco leaves to the tobacco storage mechanism.

[0051] Furthermore, the inclined conveying mechanism includes an inclined conveying mechanism b and an inclined conveying mechanism c, both of which are connected to the transverse conveying mechanism. The inclined conveying mechanism b is arranged higher than the inclined conveying mechanism c. The lower part of the two forms an input port for tobacco leaves, and the upper part of the two forms an output port for tobacco leaves. A transmission gap is provided between the two. The top of the tobacco storage mechanism is provided with an opening, and the opening matches the output port.

[0052] Specifically, the tobacco leaves enter the transmission gap through the input port, come out from the output port, and then enter the tobacco storage mechanism through the opening.

[0053] Furthermore, the lateral conveying mechanism includes a belt mounting frame a, a belt a, an active roller a and a driving motor a, the belt a is installed on the belt mounting frame a, the driving motor a is used to drive the active roller a, the active roller a drives the belt a to roll, and the inclined conveying mechanism is connected to the belt mounting frame a.

[0054] Furthermore, the power mechanism includes a lithium battery and a main motor, both of which are connected to a control system, and the main motor is used to drive the tracked power chassis.

[0055] The present invention will now be further described with reference to specific embodiments.

[0056] Example 1

[0057] The small fully automatic tobacco harvester described in this embodiment is designed to meet the harvesting needs of hilly and mountainous tobacco areas. The harvester mainly includes the following parts: a crawler power chassis 1, a tobacco picking mechanism 2, a tobacco conveying mechanism 3, a tobacco storage mechanism 4, and a power mechanism and control system 13.

[0058] The tobacco leaf picking mechanism 2 in this embodiment adopts two sets of parallel designs. Each set of mechanisms is combined with a precise sensing and control system through upper and lower layers of screw slide modules and multiple telescopic mechanisms 23, as well as a contact sensor device 24 and a grasping mechanism 25 located on the telescopic mechanism 23, to ensure efficient and accurate tobacco leaf picking operations.

[0059] Each set of tobacco leaf picking mechanism 2 includes two layers of screw slide modules arranged up and down, namely, an upper screw slide module 21 and a lower screw slide module 22. The upper screw slide module 21 is fixedly mounted on the crossbeam at the top of the gantry frame 12 and is the main supporting structure of the mechanism. The upper screw slide module 21 includes a screw a221, a slider a212, a guide rail a213 and a motor a214. The screw a221 is driven by the motor a214 to achieve linear motion, driving the slider a212 to move along the guide rail direction, and is responsible for adjusting the height of the entire picking mechanism 2. This design ensures that the upper slider a222 can flexibly adjust its position, thereby providing a precise motion trajectory for the lower screw slide module 22.

[0060] The lower screw slide module 22 is connected to the slider a212 of the upper screw slide module 21 through the guide rail b223, serving as the second-level motion platform of the mechanism. The slider b222 of the lower screw slide module 22 is the same as the upper screw slide module 21. The lower screw slide module 22 moves a short distance in the vertical direction, mainly when grabbing tobacco leaves. Through the linkage adjustment of the two screw slide modules, the picking mechanism 2 can achieve precise positioning, ensuring the flexibility and efficiency of the picking action.

[0061] Each set of tobacco leaf picking mechanism 2 is equipped with several telescopic mechanisms 23, which are installed on the slider b222 of the lower screw slide module 22. The telescopic mechanism 23 is responsible for realizing the precise execution of the grasping action, and is composed of a hollow main arm 231, a solid cylindrical telescopic arm 232 and a reset spring a233. One end of the main arm 231 is connected to the slider b222 through a rotating mechanism 26, and the other end is connected to the telescopic arm 232. The rotating mechanism includes a connected reset spring c27 and a limiter. The main arm 231 is connected to the limiter through a pin, and the reset spring c27 is sleeved on the pin. The main function of the telescopic mechanism 23 is to extend in the direction of the tobacco plant, and then automatically retract through the reset spring a233 after completing the grasping action. The grasping mechanism 25 is installed at the front end of the telescopic arm 232 by a threaded connection, and cooperates with the contact sensor device 24 to ensure that the movement of the telescopic arm 232 is accurately synchronized with the actual position of the tobacco plant, thereby improving the grasping efficiency.

[0062] The grabbing mechanism 25 is installed at the front end of the telescopic arm 232 and is responsible for completing the actual grabbing action of the tobacco leaves. The grabbing mechanism 25 adopts two semicircular arc structures, namely the semicircular arc structure a252 and the semicircular arc structure b253, to form a gripping device similar to a clamp. The clamp part is covered with a flexible material, which can effectively avoid damage to the tobacco leaves and tobacco plants during the picking process. One end of the semicircular arc structure a252 is connected to the telescopic arm 232 through a connecting section, and the other end is connected to the semicircular arc structure b253; a steering gear 251 is provided at the connection between the semicircular arc structure a252 and the semicircular arc structure b253, and a contact sensor device 24 is provided on the connecting section. The contact sensor 24 includes a contact sensor 242, a sensor device housing 241 and a reset spring b243. The main function of the contact sensor 242 is to sense the position of the tobacco plant in real time and transmit the signal to the control system for accurate grabbing operations. The reset spring b243 is responsible for automatically resetting the contact sensor 242 after the sensing is completed, ensuring the system's rapid response and reusability.

[0063] The gripping mechanism 25 is driven by a built-in steering gear 251, and its opening and closing actions are controlled by the steering gear 251. It can be dynamically adjusted according to the feedback signal of the contact sensor device 24 to ensure that the gripping action is performed at the right time. It can exert force accurately when picking tobacco leaves, reduce interference with other parts of the tobacco plant, and ensure the stability of the tobacco leaf gripping.

[0064] Each grabbing mechanism 25 is equipped with a contact sensor 24 for sensing the position of the tobacco plant. When the sensor 252 detects the position of the tobacco plant, the control system calculates the position difference between the tobacco stem and the telescopic arm 232 through an algorithm, and adjusts the extension length of the telescopic arm 232 and the grasping timing to ensure the accuracy and efficiency of the grasping action. The reset spring a233 is designed to reset the telescopic arm 232 and the grabbing mechanism 25 immediately after picking is completed, ensuring the rapid response and cyclic operation capability of the entire system.

[0065] In actual operation, the tobacco leaf picking mechanism 2 adjusts its height by vertically moving the upper screw slide module 21, so that the telescopic mechanism 25 is aimed at the target tobacco leaf. When the contact sensor 24 senses the presence of the tobacco plant, the system immediately issues a grabbing instruction. After the grabbing mechanism 25 completes the grabbing action, the lower screw slide module 22 adjusts the height of the grabbing mechanism 25 in a small range to pick the tobacco leaves, and the picked tobacco leaves fall onto the belt a315 of the horizontal conveying mechanism 31.

[0066] The tobacco conveying device 3 is composed of a transverse conveying mechanism 31 and an inclined conveying mechanism. The inclined conveying mechanism includes an inclined conveying mechanism b32 and an inclined conveying mechanism c33, both of which adopt a small belt conveying system.

[0067] The transverse conveying mechanism 31 includes a belt mounting frame a312, a belt a315, an active roller a313, a driven roller a314 and a driving motor a311. The active roller a313, the driven roller b314 and the belt a315 are all installed on the belt mounting frame a312. The driving motor a311 is used to drive the active roller a313. The active roller a313 drives the belt a315 and the driven roller a314 to roll. The inclined conveying mechanism is connected to the belt mounting frame a312.

[0068] The inclined conveying mechanism b32 includes a belt mounting frame b322, a belt b325, a driving roller b323, a driven roller b324 and a driving motor b321. The belt mounting frame b322 is connected to the belt mounting frame a312, the driving roller b323, the driven roller b324 and the belt b325 are all mounted on the belt mounting frame b322, and the driving motor b321 is used to drive the driving roller b323, and the driving roller b323 drives the belt b325 and the driven roller b324 to roll.

[0069] The inclined conveying mechanism c33 includes a belt mounting frame c332, a belt c335, a driving roller c333, a driven roller c334 and a driving motor c331. The belt mounting frame c332 is connected to the belt mounting frame a312, the driving roller c333, the driven roller 334c and the belt c335 are all mounted on the belt mounting frame c332, and the driving motor c331 is used to drive the driving roller c333, and the driving roller c333 drives the belt c335 and the driven roller c334 to roll.

[0070] The transverse conveying mechanism 31 is installed inside the crawler body 11 and arranged horizontally, and is used to convey the picked tobacco leaves from the picking area to the inclined conveying mechanism. The driving motor a311 drives the active roller a313 to operate at an appropriate speed through a high-efficiency transmission device. Through transverse conveying, the tobacco leaves can be smoothly conveyed to the next stage of the inclined conveying device in a short time, reducing the waiting time in the middle and improving the overall operation efficiency.

[0071] The inclined conveying mechanism is composed of two parallel belt conveying devices, and the structure adopts a vertically staggered design to optimize the conveying path of tobacco leaves. Specifically, the bottom end of the inclined conveying mechanism b32 is slightly higher than the upper end of the transverse conveying device 31, while the bottom end of the inclined conveying mechanism c33 is slightly lower than the transverse conveying device 31. This vertically staggered design forms a natural inclined conveying path by controlling the conveying height difference, thereby improving the conveying efficiency of tobacco leaves.

[0072] There is an appropriate gap between the belts of the inclined conveying mechanism b and the inclined conveying mechanism c, which can well hold the picked tobacco leaves and seamlessly connect with the downstream tobacco storage mechanism 4. During the conveying process, the tobacco leaves gradually rise through the belt rotation of the inclined conveying mechanism b32 and the inclined conveying mechanism c33, and are finally conveyed to the tobacco storage mechanism 4. The entire conveying path has been reasonably optimized, so that the tobacco leaves can smoothly and continuously transition from the horizontal conveying mechanism to the inclined conveying mechanism, avoiding jamming or damage, and ensuring the reliability of the system in high-intensity operations.

[0073] The belts of the inclined conveyor mechanism B32 and the inclined conveyor mechanism C33 are made of high-performance flexible materials to ensure that the tobacco leaves are not affected by excessive friction or pressure during transportation. This material not only has sufficient wear resistance and strength to withstand long-term operating loads, but also has a certain degree of elasticity, which can effectively protect the integrity of the tobacco leaves during transportation and avoid damage caused by friction or pressure during transportation.

[0074] The tobacco storage mechanism 4 is an optimally designed rectangular cavity with a large top opening, which is convenient for rapid loading and transportation of tobacco leaves. This mechanism is installed on the upper part of the crawler body 11 and can provide temporary storage space for harvested tobacco leaves. The tobacco storage mechanism 4 is not only compact in structure, but also takes into account the overall center of gravity distribution of the equipment, effectively avoiding tilting or instability caused by unbalanced load.

[0075] The open design allows tobacco leaves to be quickly loaded into the storage mechanism 4 during transport, reducing the need for mid-course stoppages or manual intervention. The interior of the cavity is reinforced to ensure that its structural integrity is maintained under high load conditions.

[0076] In summary, the tobacco leaf picking mechanism in this embodiment realizes efficient picking of tobacco leaves through the close combination of the upper and lower screw slide modules, the gripping mechanism 25, the telescopic arm 232 and the contact sensor device 24. The tobacco leaf conveying mechanism 3 greatly reduces the loss and jamming risk of tobacco leaves during the conveying process while ensuring the efficient conveying of tobacco leaves. The innovative structural design and precise control system ensure the accuracy of the picking action and the integrity of the conveyed tobacco leaves. At the same time, it also has good operational stability and adaptability, and can adapt to the needs of tobacco leaf harvesting operations in different environments.

[0077] The small fully automatic tobacco leaf harvester shown in this embodiment has significantly improved the picking efficiency and reduced the breakage rate of tobacco leaves through its simple structure and efficient design, ensuring that the equipment still has good operating performance and adaptability in complex hilly and mountainous environments. This efficient layered harvesting method not only optimizes the operating process, but also effectively improves the overall quality of tobacco leaves, meeting the high standards of modern agricultural production.

Claims

1. A small fully automatic tobacco leaf harvester, characterized in that: It includes crawler power chassis, tobacco leaf picking mechanism, tobacco leaf conveying mechanism, tobacco storage mechanism, power mechanism and control system. The tobacco leaf conveying mechanism, tobacco storage mechanism and power mechanism are all arranged on the crawler power chassis. The tobacco leaf picking mechanism comprises an upper screw slide module, a lower screw slide module, a grabbing mechanism and a plurality of telescopic mechanisms. The upper screw slide module is connected to the crawler power chassis, the lower screw slide module is connected to the upper screw slide module, one end of the telescopic mechanism is connected to the lower screw slide module, and the grabbing mechanism is connected to the other end of the telescopic mechanism. The height of the telescopic mechanism is adjusted by the upper screw slide module and the lower screw slide module. The control system is used to control the upper screw slide module, the lower screw slide module, the telescopic mechanism, the grasping mechanism and the crawler power chassis.

2. The small fully automatic tobacco leaf harvester according to claim 1, characterized in that: The crawler power chassis comprises a gantry frame and a crawler unit, wherein the crawler unit is arranged on both sides of the bottom of the gantry frame; The upper screw slide module is connected to the top of the gantry frame; The tobacco leaf conveying mechanism is connected to the inner side of the crawler belt unit; The smoke storage mechanism, power mechanism and control system are all arranged on the crawler body.

3. The small fully automatic tobacco leaf harvester according to claim 2 is characterized in that: The upper screw slide module includes a guide rail a, a screw rod a, a slider a and a motor a, wherein the guide rail a is connected to the top of the gantry frame, the screw rod a is arranged in the guide rail a, the slider a is sleeved on the screw rod a and connected to the guide rail a, and the motor a is used to drive the screw rod a; The lower screw slide module comprises a guide rail b, a screw rod b, a slider b and a motor b, wherein the guide rail b is connected to the slider a, the screw rod b is arranged in the guide rail b, the slider b is sleeved on the screw rod b and connected to the guide rail b, and the motor b is used to drive the screw rod b; The slider b is connected to one end of the telescopic mechanism.

4. The small fully automatic tobacco leaf harvester according to claim 3 is characterized in that: The slider b is connected to the telescopic mechanism via a rotating mechanism, and the rotating mechanism is used to realize the horizontal rotation of the telescopic mechanism.

5. The small fully automatic tobacco leaf harvester according to claim 3 is characterized in that: The telescopic mechanism includes a main arm and a telescopic arm, one end of the main arm is connected to the slider b, and the other end is connected to the telescopic arm. The end of the telescopic arm connected to the main arm is sleeved with a return spring a, and the other end is connected to a grasping mechanism.

6. The small fully automatic tobacco leaf harvester according to claim 5, characterized in that: The grabbing mechanism comprises a semicircular arc structure a and a semicircular arc structure b, one end of the semicircular arc structure a is connected to the telescopic arm through a connecting section, and the other end is connected to the semicircular arc structure b; A steering gear is provided at the connection between the semicircular arc structure a and the semicircular arc structure b, and a contact sensor device is provided on the connection section.

7. The small fully automatic tobacco leaf harvester according to claim 2, characterized in that: The tobacco conveying device includes a transverse conveying mechanism and an inclined conveying mechanism. The transverse conveying mechanism is horizontally installed on the inner side of the track body, and the inclined conveying mechanism is connected to the transverse conveying mechanism. The transverse conveying mechanism is used to transfer the picked tobacco leaves to the inclined conveying mechanism, and the inclined conveying mechanism is used to transfer the tobacco leaves to the tobacco storage mechanism.

8. The small fully automatic tobacco leaf harvester according to claim 7, characterized in that: The inclined conveying mechanism includes an inclined conveying mechanism b and an inclined conveying mechanism c, both of which are connected to the transverse conveying mechanism. The inclined conveying mechanism b is arranged higher than the inclined conveying mechanism c. The lower part of the inclined conveying mechanism forms an input port for tobacco leaves, and the upper part of the inclined conveying mechanism forms an output port for tobacco leaves. A transmission gap is provided between the two. The top of the tobacco storage mechanism is provided with an opening, and the opening matches the output port.

9. The small fully automatic tobacco leaf harvester according to claim 7, characterized in that: The lateral conveying mechanism includes a belt mounting frame a, a belt a, an active roller a, a driven roller a and a driving motor a. The belt a is installed on the belt mounting frame a. The driving motor a is used to drive the active roller a. The active roller a drives the belt a and the driven roller a to roll. The inclined conveying mechanism is connected to the belt mounting frame a.

10. The small fully automatic tobacco leaf harvester according to any one of claims 1 to 9, characterized in that: The power mechanism includes a lithium battery and a main motor, both of which are connected to a control system, and the main motor is used to drive a tracked power chassis.

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