A small fully automatic tobacco leaf harvester

Abstract

This invention relates to the field of tobacco harvesting machinery technology, and provides a small, fully automatic tobacco harvester, including a tracked chassis, a tobacco picking mechanism, a tobacco conveying mechanism, a tobacco storage mechanism, a power mechanism, and a control system. The tobacco conveying mechanism, tobacco storage mechanism, and power mechanism are all mounted on the tracked chassis. The tobacco picking mechanism includes an upper screw slide module, a lower screw slide module, a gripping mechanism, and a telescopic mechanism. The upper screw slide module is connected to the tracked chassis, and 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 gripping mechanism is connected to the other end of the telescopic mechanism. The height of the telescopic mechanism is adjusted by the upper and lower screw slide modules. Advantages: The picking mechanism can effectively identify and select suitable tobacco plants, ensuring that each layer of tobacco leaves is picked intact, effectively improving the overall quality of the tobacco leaves, and reducing losses caused by improper operation.

Description

Technical Field

[0001] This invention relates to the field of tobacco harvesting machinery technology, and more specifically, to a small fully automatic tobacco leaf harvester. Background Technology

[0002] Tobacco harvesting is a crucial step in tobacco production, with both harvesting time and methods significantly impacting yield and quality. The tobacco ripening period coincides with summer, characterized by hot weather, harsh working conditions, high labor intensity, low efficiency, and complex agronomic requirements. When large quantities of tobacco need to be harvested, manual harvesting is insufficient and easily misses the optimal harvest time. Therefore, developing machinery suitable for harvesting tobacco in hilly and mountainous areas is a vital measure to address labor shortages and adapt to large-scale development.

[0003] A small number of semi-mechanized and mechanized tobacco harvesters and tobacco transfer machines are currently in use. These machines are more efficient than manual harvesting and can complete harvesting operations promptly. However, due to their large size, complex structure, and susceptibility to damage, these existing models are difficult to operate in the hilly tobacco-growing areas of southern China. This, to some extent, restricts the development of the tobacco industry.

[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 tobacco leaves in multiple layers. Summary of the Invention

[0005] To address one or more of the aforementioned problems, this invention provides a small, fully automatic tobacco harvester. This machine has a simple structure and small size, enabling stratified harvesting, ensuring the quality of tobacco harvesting, and improving the efficiency of tobacco harvesting.

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

[0007] A small, fully automatic tobacco harvester is provided, comprising a tracked chassis, a tobacco picking mechanism, a tobacco conveying mechanism, a tobacco storage mechanism, a power mechanism, and a control system. The tobacco conveying mechanism, tobacco storage mechanism, and power mechanism are all mounted on the tracked chassis. The tobacco picking mechanism includes an upper screw slide module, a lower screw slide module, a gripping mechanism, and several telescopic mechanisms. The upper screw slide module is connected to the tracked chassis, and the lower screw slide module is connected to the upper screw slide module. One end of each telescopic mechanism is connected to the lower screw slide module, and the gripping mechanism is connected to the other end of the telescopic mechanism. The height of the telescopic mechanism is adjusted by the upper and lower screw slide modules. The control system controls the upper screw slide module, the lower screw slide module, the telescopic mechanism, the gripping mechanism, and the tracked chassis.

[0008] The control system can control the lifting and lowering of the telescopic mechanism and the gripping mechanism, as well as the movement of the tracked power chassis.

[0009] Furthermore, the tracked power chassis includes a gantry frame and track units, with the track units located 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 track units; and the tobacco storage mechanism, power mechanism, and control system are all located on the track units.

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

[0011] Furthermore, the upper lead screw slide module includes a guide rail a, a lead screw a, a slider a, and a motor a. The guide rail a is connected to the top of the gantry frame, the lead screw a is disposed inside the guide rail a, the slider a is sleeved on the lead screw a and connected to the guide rail a, and the motor a is used to drive the lead screw a.

[0012] The lower lead screw slide module includes a guide rail b, a lead screw b, a slider b, and a motor b. The guide rail b is connected to the slider a, the lead screw b is disposed inside the guide rail b, the slider b is sleeved on the lead screw b and connected to the guide rail b, and the motor b is used to drive the lead screw 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, which is used to realize the 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. A return spring a is sleeved on one end of the telescopic arm connected to the main arm, and the other end is connected to the gripping mechanism.

[0016] Specifically, the end of the return spring a that is connected to the main arm protrudes, limiting the range of motion of the return spring a.

[0017] Furthermore, the gripping mechanism includes a semi-circular arc structure a and a semi-circular arc structure b. One end of the semi-circular arc structure a is connected to the telescopic arm via a connecting section, and the other end is connected to the semi-circular arc structure b.

[0018] A servo motor is provided at the connection between the semi-circular arc structure a and the semi-circular arc structure b, and a contact sensing device is provided on the connection section.

[0019] Furthermore, the tobacco leaf 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 harvested 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 connected to the transverse conveying mechanism. The inclined conveying mechanism b is positioned higher than the inclined conveying mechanism c. The bottom of both forms an input port for tobacco leaves, and the top of both forms an output port for tobacco leaves. A transmission gap is provided between the two. The top of the tobacco storage mechanism has an opening that matches the output port.

[0021] Specifically, the tobacco leaves enter the transmission gap through the inlet, exit through the outlet, and then enter the tobacco storage mechanism through the opening.

[0022] Furthermore, the transverse conveying mechanism includes a belt mounting frame a, a belt a, a drive roller a, a driven roller a, and a drive motor a. The belt a is mounted on the belt mounting frame a, and the drive motor a is used to drive the drive roller a. The drive 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.

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

[0024] The present invention has the following advantages over the prior art:

[0025] This invention relates to a small, fully automatic tobacco harvester with a simple structure and compact size, specifically designed to meet the agricultural machinery and agronomic needs of hilly and mountainous tobacco-growing areas. Its unique tobacco harvesting mechanism enables automated, layered harvesting, significantly improving harvesting efficiency and reducing tobacco leaf breakage. The mechanism employs advanced sensing and control technology to ensure flexible operation in complex terrain conditions and adapt to the requirements of small turning radii.

[0026] Through precise design, the harvesting mechanism can effectively identify and select suitable tobacco plants, ensuring the complete harvesting of each layer of leaves. This efficient layered harvesting method not only optimizes the workflow but also effectively improves the overall quality of the tobacco leaves and reduces losses caused by improper operation. The overall design aims to improve the efficiency of tobacco harvesting and ensure that the equipment maintains stable performance under varying terrain and environmental conditions, meeting the high standards required for agricultural production. Attached Figure Description

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

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

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

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

[0031] Figure 5 This 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 This is a schematic diagram of the tobacco leaf conveying mechanism of the fully automatic tobacco leaf harvester according to an embodiment of the present invention.

[0033] Figure 7 This is a schematic diagram of the rotating mechanism according to an embodiment of the present invention.

[0034] Figure label:

[0035] 1. Tracked power chassis; 11. Tracked unit; 12. Gantry frame; 13. Power unit and control system;

[0036] 2. Tobacco leaf picking mechanism, 21. Upper lead screw slide module, 211. Lead screw a, 212. Slider a, 213. Guide rail a, 214. Motor a, 22. Lower lead screw slide module, 221. Lead 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. Gripping mechanism, 251. Servo motor, 252. Semi-circular arc structure a, 253. Semi-circular 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. Lateral conveying mechanism, 311. Drive motor a, 312. Belt mounting frame a, 313. Driven roller a, 314. Driven roller a, 315. Belt a, 32. Inclined conveying mechanism b, 321. Drive motor b, 322. Belt mounting frame b, 323. Driven roller b, 324. Driven roller b, 325. Belt b, 33. Inclined conveying mechanism b, 331. Drive motor c, 332. Belt mounting frame c, 333. Driven roller c, 334. Driven roller c, 335. Belt c;

[0038] 4. Tobacco storage facilities. Detailed Implementation

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

[0040] This invention provides a small, fully automatic tobacco harvester, comprising a tracked chassis, a tobacco picking mechanism, a tobacco conveying mechanism, a tobacco storage mechanism, a power mechanism, and a control system. The tobacco conveying mechanism, tobacco storage mechanism, and power mechanism are all mounted on the tracked chassis. The tobacco picking mechanism includes an upper screw slide module, a lower screw slide module, a gripping mechanism, and several telescopic mechanisms. The upper screw slide module is connected to the tracked chassis, and the lower screw slide module is connected to the upper screw slide module. One end of each telescopic mechanism is connected to the lower screw slide module, and the gripping mechanism is connected to the other end of the telescopic mechanism. The height of the telescopic mechanism is adjusted by the upper and lower screw slide modules. The control system controls the upper screw slide module, the lower screw slide module, the telescopic mechanism, the gripping mechanism, and the tracked chassis.

[0041] Furthermore, the tracked power chassis includes a gantry frame and track units, with the track units located 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 track units; and the tobacco storage mechanism, power mechanism, and control system are all located on the track units.

[0042] Furthermore, the upper lead screw slide module includes a guide rail a, a lead screw a, a slider a, and a motor a. The guide rail a is connected to the top of the gantry frame, the lead screw a is disposed inside the guide rail a, the slider a is sleeved on the lead screw a and connected to the guide rail a, and the motor a is used to drive the lead screw a.

[0043] The lower lead screw slide module includes a guide rail b, a lead screw b, a slider b, and a motor b. The guide rail b is connected to the slider a, the lead screw b is disposed inside the guide rail b, the slider b is sleeved on the lead screw b and connected to the guide rail b, and the motor b is used to drive the lead screw 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, which is used to realize the 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. A return spring a is sleeved on one end of the telescopic arm connected to the main arm, and the other end is connected to the gripping mechanism.

[0047] Specifically, the end of the return spring a that is connected to the main arm protrudes, limiting the range of motion of the return spring a.

[0048] Furthermore, the gripping mechanism includes a semi-circular arc structure a and a semi-circular arc structure b. One end of the semi-circular arc structure a is connected to the telescopic arm via a connecting section, and the other end is connected to the semi-circular arc structure b.

[0049] A servo motor is provided at the connection between the semi-circular arc structure a and the semi-circular arc structure b, and a contact sensing device is provided on the connection section.

[0050] Furthermore, the tobacco leaf 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 harvested 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 connected to the transverse conveying mechanism. The inclined conveying mechanism b is positioned higher than the inclined conveying mechanism c. The bottom of both forms an input port for tobacco leaves, and the top of both forms an output port for tobacco leaves. A transmission gap is provided between the two. The top of the tobacco storage mechanism has an opening that matches the output port.

[0052] Specifically, the tobacco leaves enter the transmission gap through the inlet, exit through the outlet, and then enter the tobacco storage mechanism through the opening.

[0053] Furthermore, the transverse conveying mechanism includes a belt mounting frame a, a belt a, a drive roller a, and a drive motor a. The belt a is mounted on the belt mounting frame a, and the drive motor a is used to drive the drive roller a. The drive roller a drives the belt a to roll. 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 the control system. 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-growing areas. The harvester mainly comprises the following parts: a tracked 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] In this embodiment, the tobacco leaf picking mechanism 2 adopts two parallel designs. Each mechanism uses upper and lower two-layer screw slide modules, multiple telescopic mechanisms 23, contact sensing devices 24 and gripping mechanisms 25 located on the telescopic mechanisms 23, combined with a precise sensing and control system to ensure efficient and accurate tobacco leaf picking operations.

[0059] Each tobacco leaf harvesting mechanism 2 comprises two layers of screw slide modules arranged vertically: 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 serves as the main support 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, which in turn moves the slider a212 along the guide rail, thus adjusting the height of the entire harvesting mechanism 2. This design ensures that the upper slider a222 can be flexibly adjusted, thereby providing a precise motion trajectory for the lower screw slide module 22.

[0060] The lower lead screw slide module 22 is connected to the slider a212 of the upper lead screw slide module 21 via guide rail b223, serving as the second motion platform of the mechanism. The slider b222 of the lower lead screw slide module 22 is the same as that of the upper lead screw slide module 21. The lower lead screw slide module 22 moves a short distance vertically, primarily during the gripping of tobacco leaves. Through the coordinated adjustment of the two lead screw slide modules, the picking mechanism 2 can achieve precise positioning, ensuring the flexibility and efficiency of the picking action.

[0061] Each tobacco leaf picking mechanism 2 is equipped with several telescopic mechanisms 23, installed on the slider b222 of the lower screw slide module 22. The telescopic mechanism 23 is responsible for the precise execution of the gripping action and consists of a hollow main arm 231, a solid cylindrical telescopic arm 232, and a return spring a233. One end of the main arm 231 is connected to the slider b222 via a rotating mechanism 26, and the other end is connected to the telescopic arm 232. The rotating mechanism includes a connected return spring c27 and a limiter; the main arm 231 is connected to the limiter via a pin, and the return spring c27 is fitted onto the pin. The main function of the telescopic mechanism 23 is to extend along the direction of the tobacco plant, complete the gripping action, and then automatically retract via the return spring a233. The gripping mechanism 25 is installed at the front end of the telescopic arm 232 via a threaded connection and cooperates with the contact sensor 24 to ensure that the movement of the telescopic arm 232 is precisely synchronized with the actual position of the tobacco plant, improving gripping efficiency.

[0062] The gripping mechanism 25 is installed at the front end of the telescopic arm 232 and is responsible for performing the actual gripping action of the tobacco leaves. The gripping mechanism 25 adopts two semi-circular arc structures, namely semi-circular arc structure a252 and semi-circular arc structure b253, forming 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 harvesting process. One end of the semi-circular arc structure a252 is connected to the telescopic arm 232 through a connecting section, and the other end is connected to the semi-circular arc structure b253. A servo motor 251 is provided at the connection between the semi-circular arc structure a252 and the semi-circular arc structure b253, and a contact sensor 24 is provided on the connecting section. The contact sensor 24 includes a contact sensor 242, a sensor housing 241, and a return spring b243. The main function of the contact sensor 242 is to sense the position of the tobacco plants in real time and transmit the signal to the control system for precise gripping operation. The reset spring b243 is responsible for automatically resetting the contact sensor 242 after sensing is completed, ensuring the system's rapid response and reusability.

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

[0064] Each gripping mechanism 25 is equipped with a contact sensor 24 to detect the position of the tobacco plant. Once the sensor 252 detects the position of the tobacco plant, the control system calculates the positional difference between the tobacco stem and the telescopic arm 232 using an algorithm, adjusting the extension length of the telescopic arm 232 and the gripping timing to ensure the accuracy and efficiency of the gripping action. The return spring a233 is designed to immediately reset the telescopic arm 232 and gripping mechanism 25 after harvesting, ensuring the system's rapid response and cyclic operation capability.

[0065] In actual operation, the tobacco leaf picking mechanism 2 adjusts its height vertically by moving the upper screw slide module 21, so that the telescopic mechanism 25 is aligned with the target tobacco leaf. When the contact sensor 24 detects the presence of the tobacco plant, the system immediately issues a grabbing command. After the grabbing mechanism 25 completes the grabbing action, the lower screw slide module 22 adjusts the height of the grabbing mechanism 25 within a small range to pick the tobacco leaf. The picked tobacco leaf falls onto the belt a315 of the transverse conveyor mechanism 31.

[0066] The tobacco leaf conveying device 3 consists 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 use a small belt conveying system.

[0067] The transverse conveying mechanism 31 includes a belt mounting frame a312, a belt a315, a drive roller a313, a driven roller a314, and a drive motor a311. The drive roller a313, the driven roller a314, and the belt a315 are all mounted on the belt mounting frame a312. The drive motor a311 is used to drive the drive roller a313, which 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 drive roller b323, a driven roller b324, and a drive motor b321. The belt mounting frame b322 is connected to the belt mounting frame a312. The drive roller b323, the driven roller b324, and the belt b325 are all mounted on the belt mounting frame b322. The drive motor b321 drives the drive roller b323, which in turn drives the belt b325 and the driven roller b324 to rotate.

[0069] The inclined conveying mechanism c33 includes a belt mounting frame c332, a belt c335, a drive roller c333, a driven roller c334, and a drive motor c331. The belt mounting frame c332 is connected to the belt mounting frame a312. The drive roller c333, the driven roller c334, and the belt c335 are all mounted on the belt mounting frame c332. The drive motor c331 drives the drive roller c333, which in turn drives the belt c335 and the driven roller c334 to rotate.

[0070] The lateral conveyor mechanism 31 is installed inside the track unit 11 and is arranged horizontally. It is used to transport the harvested tobacco leaves from the harvesting area to the inclined conveyor mechanism. The drive motor a311 drives the drive roller a313 to operate at an appropriate speed through a high-efficiency transmission device. Through lateral conveying, the tobacco leaves can be smoothly transported to the next stage inclined conveyor in a shorter time, reducing waiting time and improving overall operation efficiency.

[0071] The inclined conveyor mechanism consists of two parallel belt conveyors with a staggered vertical design to optimize the tobacco leaf conveying path. Specifically, the bottom of the inclined conveyor b32 is slightly higher than the top of the transverse conveyor 31, while the bottom of the inclined conveyor c33 is slightly lower than the transverse conveyor 31. This staggered design, by controlling the height difference, creates a natural inclined conveying path, improving the tobacco leaf conveying efficiency.

[0072] The belts of inclined conveyor b and inclined conveyor c are designed with appropriate gaps to effectively hold the harvested tobacco leaves and seamlessly connect with the downstream tobacco storage mechanism 4. During the conveying process, the tobacco leaves gradually rise via the rotating belts of inclined conveyor b32 and inclined conveyor c33, and are finally transported to the tobacco storage mechanism 4. The entire conveying path has been rationally optimized, allowing the tobacco leaves to smoothly and continuously transition from the horizontal conveyor to the inclined conveyor, avoiding jamming or damage, and ensuring the reliability of the system under high-intensity operation.

[0073] The belts of inclined conveyor mechanisms B32 and C33 are made of high-performance flexible material 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 optimized rectangular cavity with a large top opening, facilitating rapid loading and transport of tobacco leaves. This mechanism is installed on top of the track unit 11, providing 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 preventing tilting or instability caused by unbalanced loads.

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

[0076] In summary, the tobacco leaf harvesting mechanism in this embodiment achieves efficient tobacco leaf harvesting through the tight combination of upper and lower screw slide modules, gripping mechanism 25, telescopic arm 232, and contact sensing device 24. The tobacco leaf conveying mechanism 3, while ensuring efficient tobacco leaf conveying, greatly reduces tobacco leaf loss and jamming risks during the conveying process. The innovative structural design and precise control system ensure the accuracy of the harvesting action and the integrity of the conveyed tobacco leaves, while also possessing good operational stability and adaptability, capable of meeting the needs of tobacco leaf harvesting operations in different environments.

[0077] This embodiment showcases a small, fully automatic tobacco harvester. Through its simple structure and efficient design, it significantly improves harvesting efficiency and reduces tobacco leaf breakage, ensuring good operational performance and adaptability even in complex hilly and mountainous environments. This efficient tiered harvesting method not only optimizes the workflow but also effectively improves the overall quality of tobacco leaves, meeting the high standards required for modern agricultural production.

Claims

1. A small, fully automatic tobacco harvester, characterized in that, It includes a tracked chassis, a tobacco harvesting mechanism, a tobacco conveying mechanism, a tobacco storage mechanism, a power mechanism, and a control system. The tobacco leaf conveying mechanism, tobacco storage mechanism, and power mechanism are all mounted on the tracked power chassis. The tobacco leaf harvesting mechanism includes an upper screw slide module, a lower screw slide module, a gripping mechanism, and several telescopic mechanisms. The upper screw slide module is connected to a tracked power chassis, and the lower screw slide module is connected to the upper screw slide module. One end of each telescopic mechanism is connected to the lower screw slide module, and the gripping mechanism is connected to the other end of the telescopic mechanism. The height of the telescopic mechanism can be adjusted by using the upper and lower screw slide modules. The control system is used to control the upper lead screw slide module, the lower lead screw slide module, the telescopic mechanism, the gripping mechanism, and the tracked power chassis; The upper lead screw slide module includes a guide rail a, a lead screw a, a slider a and a motor a. The guide rail a is connected to the top of the gantry frame of the tracked power chassis. The lead screw a is located inside the guide rail a. The slider a is sleeved on the lead screw a and connected to the guide rail a. The motor a is used to drive the lead screw a. The lower lead screw slide module includes a guide rail b, a lead screw b, a slider b, and a motor b. The guide rail b is connected to the slider a, the lead screw b is disposed inside the guide rail b, the slider b is sleeved on the lead screw b and connected to the guide rail b, and the motor b is used to drive the lead screw b. One end of the telescopic mechanism is connected to the slider b; 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. A return spring a is sleeved on one end of the telescopic arm connected to the main arm, and the other end is connected to the gripping mechanism. The gripping mechanism includes a semi-circular arc structure a and a semi-circular arc structure b. One end of the semi-circular arc structure a is connected to the telescopic arm through a connecting section, and the other end is connected to the semi-circular arc structure b. A servo motor is provided at the connection between the semi-circular arc structure a and the semi-circular arc structure b, and a contact sensing device is provided on the connection section.

2. The small fully automatic tobacco harvester according to claim 1, characterized in that, The tracked power chassis includes a gantry frame and track units, wherein the track units are located on both sides of the bottom of the gantry frame; The upper lead screw slide module is connected to the top of the gantry frame; The tobacco leaf conveying mechanism is connected to the inside of the track unit; The smoke storage mechanism, power mechanism, and control system are all located on the track unit.

3. The small fully automatic tobacco harvester according to claim 1, characterized in that, The slider b is connected to the telescopic mechanism via a rotating mechanism, which is used to realize the horizontal rotation of the telescopic mechanism.

4. The small fully automatic tobacco harvester according to claim 2, characterized in that, The tobacco leaf conveying mechanism includes a horizontal conveying mechanism and an inclined conveying mechanism. The horizontal conveying mechanism is horizontally installed on the inner side of the track unit, and the inclined conveying mechanism is connected to the horizontal conveying mechanism. The horizontal conveying mechanism is used to transfer the harvested tobacco leaves to the inclined conveying mechanism, and the inclined conveying mechanism is used to transfer the tobacco leaves to the tobacco storage mechanism.

5. The small fully automatic tobacco harvester according to claim 4, characterized in that, The inclined conveying mechanism includes an inclined conveying mechanism b and an inclined conveying mechanism c, both connected to the horizontal conveying mechanism. The inclined conveying mechanism b is set higher than the inclined conveying mechanism c. The bottom of both forms the tobacco leaf inlet, and the top of both forms the tobacco leaf outlet. A transmission gap is provided between them. The top of the tobacco storage mechanism has an opening that matches the outlet.

6. The small fully automatic tobacco harvester according to claim 5, characterized in that, The transverse conveying mechanism includes a belt mounting frame a, a belt a, a drive roller a, a driven roller a, and a drive motor a. The belt a is mounted on the belt mounting frame a, and the drive motor a drives the drive roller a. The drive 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.

7. The small fully automatic tobacco harvester according to any one of claims 1 to 6, characterized in that, The power mechanism includes a lithium battery and a main motor, both of which are connected to the control system. The main motor is used to drive the tracked power chassis.

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