Efficient automatic asparagus lettuce harvester

Abstract

The invention discloses an efficient and automatic asparagus lettuce harvester which comprises a vehicle body, a leaf removing device, a clamping device, a cutting device and a conveying device. The leaf removing device, the clamping device, the cutting device and the conveying device are arranged on the vehicle body. The clamping device is located on the rear side of the leaf removing device, the cutting device is located on the lower side of the clamping device, and the conveying device is located on the rear side of the clamping device. The leaf removing device is used for removing bottom leaves on the outer sides of the asparagus lettuces, the clamping device is used for clamping the asparagus lettuces with the leaves removed, the cutting device is used for cutting off the bottoms of the clamped asparagus lettuces and transferring and conveying the asparagus lettuces to the conveying device, and the conveying device is used for conveying the asparagus lettuces with the bottoms cut off to a material frame; by integrating the leaf removing device, the clamping device, the cutting device and the conveying device, the whole-process automatic operation of leaf removing, clamping, cutting and conveying of the asparagus lettuce is achieved, the production efficiency is greatly improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural equipment, and in particular to a high-efficiency automatic lettuce harvester. Background Art

[0002] At present, my country's lettuce planting industry is developing rapidly, the planting scale is constantly expanding, and the output has increased significantly. However, in the harvesting process of lettuce, the degree of mechanization is still low, and it mainly relies on manual work. This traditional harvesting method is not only labor-intensive and inefficient, but also difficult to meet the needs of modern agriculture for efficient and automated production. In particular, in the whole process of defoliation, cutting and harvesting of lettuce, the existing technology has many shortcomings. Although some improved lettuce harvesting devices have been proposed, such as the invention patent with publication number CN215188314U, which disclosed a lettuce double-flexible pulling, cutting and harvesting device on December 17, 2021, including a frame, on which a straightening device, a lifting device, a cutting device, and a transportation device are sequentially provided along the harvesting path. The lifting device includes two mutually cooperating clamping soft rollers, and the outer walls of the clamping soft rollers are provided with lifting threads. The two clamping soft rollers will lift the lettuce between the two clamping soft rollers during the process of rotating towards each other. The cutting device is used to cut the lettuce after being pulled and lifted, and the transportation device is used to allow the lettuce to pass through the lifting device and the cutting device in sequence.

[0003] Although the above-mentioned prior art realizes the integrated function of cutting and harvesting lettuce, it is unable to remove the useless bottom leaves at the bottom of the lettuce, thus affecting the harvesting efficiency and the convenience of subsequent processing. Summary of the invention

[0004] The purpose of the present invention is to provide a high-efficiency automatic lettuce harvester to address the problems existing in the prior art. By integrating a leaf removal device, a clamping device, a cutting device and a transportation device, the whole process of automated operation of lettuce from leaf removal, clamping, cutting to transportation is realized, which greatly improves production efficiency and reduces manual labor intensity.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A highly efficient and automated lettuce harvester comprises a vehicle body and a defoliating device, a clamping device, a cutting device and a transporting device arranged on the vehicle body; the clamping device is located at the rear side of the defoliating device, the cutting device is located at the lower side of the clamping device, and the transporting device is located at the rear side of the clamping device; the defoliating device is used to remove the bottom leaves on the outer side of the lettuce, the clamping device is used to clamp the defoliated lettuce, the cutting device is used to cut off the bottom of the clamped lettuce and transfer it to the transporting device, and the transporting device is used to transport the lettuce with the bottom cut off to a material frame;

[0007] The leaf removing device includes a leaf removing clamping claw mechanism and a leaf removing driving mechanism; the leaf removing clamping claw mechanism includes two clamping claw assemblies arranged opposite to each other on the left and right, each of the clamping claw assemblies includes a first mounting seat, a clamping block, and a clamping claw, and the clamping block is connected to the first mounting seat by a first spring; wherein the two clamping blocks are arranged to elastically displace toward each other, and the two clamping claws are combined to form a clamping sleeve for covering the lettuce; the leaf removing driving mechanism is used to drive the two first mounting seats to perform lifting and reciprocating motion, and the leaf removing clamping claw mechanism removes the bottom leaves on the outside of the lettuce through the clamping sleeve.

[0008] The clamping jaw includes a three-finger rotating block and a single-finger rotating block. The three finger rods of the three-finger rotating block are evenly distributed at circumferential intervals. A U-shaped groove is provided on one side of the clamping block. The middle part of the three-finger rotating block is rotatably connected to the U-shaped groove through a first pin shaft, and one end of the single-finger rotating block is rotatably connected to the U-shaped groove through a second pin shaft and is connected to a reset spring; the three-finger rotating block is arranged on the front side of the single-finger rotating block, and two of the three-finger rotating blocks and the two single-finger rotating blocks together form the clamping sleeve.

[0009] A pin is provided in the U-shaped groove at the rear of the single-finger rotating block, the pin is connected to the return spring, and the other end of the return spring is connected to the rear end of the single-finger rotating block.

[0010] The lettuce harvester includes a control box connected to the vehicle body. The control box is provided with a PLC or an embedded system for receiving signals from various sensors and controlling the leaf removal device, the clamping device, the cutting device and the transport device according to preset programs and algorithms to achieve automated harvesting of lettuce.

[0011] The leaf removal drive mechanism includes two lifting drive components, and the two lifting drive components are respectively used to drive the corresponding leaf removal clamp mechanism to lift and reciprocate; each lifting drive component includes a lifting drive motor, a crank, a connecting rod and a vertically arranged guide rod; the output shaft of the lifting drive motor is connected to the crank, the crank is connected to the connecting rod, the connecting rod is connected to the first mounting seat, and the guide rod is fixedly connected to the vehicle body and passes through the first mounting seat.

[0012] The clamping device includes two conveyor belt clamping mechanisms arranged opposite to each other on the left and right; each of the conveyor belt clamping mechanisms includes an upper clamping plate, a lower clamping plate, a clamping belt, a plurality of positioning rollers and a moving roller; the positioning roller is arranged between the upper clamping plate and the lower clamping plate for vertical rotation, and one of the positioning rollers is connected to a rotating drive motor; the moving roller is arranged between the upper clamping plate and the lower clamping plate for horizontal displacement, and the moving rollers of the two conveyor belt clamping mechanisms are arranged for elastic displacement toward each other; the clamping belt is wound around all the positioning rollers and the moving rollers.

[0013] The moving rollers of the two conveyor belt clamping mechanisms are arranged to be elastically displaced toward each other, specifically including: a plurality of fixed pins are provided between the upper clamping plate and the lower clamping plate, each of the moving rollers is connected to the corresponding fixed pin through a connecting plate, and can rotate circumferentially around the fixed pin, and the connecting plate is penetrated and connected with a vertical guide rod; a plurality of pairs of arc guide grooves are provided between the upper clamping plate and the lower clamping plate, and the upper and lower ends of each guide rod pass through the corresponding arc guide groove; the upper and lower ends of the guide rods are connected with reset elastic parts for pulling the guide rods to one side of the arc guide grooves.

[0014] The cutting device includes a support arm, a second mounting seat, two clamping arms and two saw blades. One end of the support arm is connected to the vehicle body, and the other end is connected to the second mounting seat. The two clamping arms are respectively connected to the second mounting seat. The other end of each clamping arm is connected to the saw blade and a saw blade driving motor. The saw blade driving motor is connected to the saw blade for driving it to rotate. The two saw blades are arranged opposite to each other and are used to cut off the bottom of the lettuce.

[0015] The support arm includes a fixed arm and a floating arm. The fixed arm is vertically fixed to the vehicle body. A sliding cavity is provided on one side of the fixed arm, and a slider is provided on one side of the floating arm. The slider is inserted into the sliding cavity and can move up and down in the sliding cavity. The floating arm is connected to the second mounting seat. The support arm is used to float up and down following the unevenness of the road surface.

[0016] The cutting device is connected to a transfer transmission mechanism, which includes a third mounting seat, a transfer transmission motor, a transfer transmission belt, a transfer drive roller and a transfer driven roller; the third mounting seat is fixedly connected to the fixed arm, the third mounting seat is connected to the transfer drive roller, the transfer drive roller is connected to the transfer transmission motor, the transfer driven roller is rotatably connected between the two clamping arms, and the transfer transmission belt is wound around the transfer drive roller and the transfer driven roller to receive the cut lettuce and transfer it to the transportation device.

[0017] The transport device is a conveyor belt transport device, which is inclined at the vehicle body; a receiving plate is fixedly connected to the vehicle body, one side of which extends to the lower side of the conveyor belt transport device, and the receiving plate is provided with a plurality of avoidance grooves arranged transversely in parallel; a plurality of rows of baffles are arranged transversely along the conveyor belt of the conveyor belt transport device, and each row of baffles corresponds to one of the avoidance grooves, so that the baffles can pass through the receiving plate during movement.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The lettuce harvester integrates a defoliating device, a clamping device, a cutting device and a transport device, realizing the full automation of the lettuce process from defoliating, clamping, cutting to transport, greatly improving production efficiency and reducing labor intensity;

[0020] 2. The leaf removal device uses the principle of elastic clamping and lifting and reciprocating motion to effectively remove the outer bottom leaves of the lettuce without moving it, which improves the efficiency and accuracy of leaf removal and avoids the workload of subsequent processing;

[0021] 3. By utilizing the rotation of the three-finger rotating block and the single-finger rotating block and the elastic reset characteristics of the reset spring, the automatic entry and exit of the clamping sleeve of the lettuce is realized, and no additional driving device is required to control the extension and retraction of the clamping block, thereby improving the degree of automation and simplifying the mechanical structure; wherein, the reset spring pulls the single-finger rotating block to rotate and reset around the second pin shaft, thereby ensuring that the clamping sleeve can be quickly and automatically reclosed to prepare for the next lettuce clamping;

[0022] 4. The clamping device can automatically drag the defoliated lettuce in and firmly clamp it through the rotating drive motor and flexible clamping design. Combined with the double-sided cutting method of the cutting device, the bottom of the lettuce can be quickly and accurately cut off;

[0023] 5. The moving rollers in the clamping device are set to move in opposite directions elastically, and can be adaptively adjusted according to the diameter of the lettuce, thus achieving flexible clamping and avoiding damage to the lettuce due to excessive clamping force, thus ensuring the integrity and quality of the lettuce;

[0024] 6. The floating design of the cutting device can adapt to uneven roads and protect the saw blade from damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is a schematic diagram of the overall structure of the lettuce harvester according to an embodiment of the present application;

[0027] Figure 2 This is a schematic diagram of the structure of the leaf removal device according to an embodiment of the present application;

[0028] Figure 3 This is a schematic diagram of the structure of the clamping jaw assembly of an embodiment of the present application, wherein the three-finger rotating block and the single-finger rotating block are in a split state;

[0029] Figure 4This is a schematic diagram of the structure of the clamping device according to an embodiment of the present application;

[0030] Figure 5 This is a schematic diagram of the structure of the transmission belt clamping mechanism of the embodiment of the present application;

[0031] Figure 6 This is a schematic diagram of the structure of the cutting device according to an embodiment of the present application, in which the transfer transmission mechanism is hidden;

[0032] Figure 7 This is a complete structural schematic diagram of the cutting device according to an embodiment of the present application;

[0033] Figure 8 This is a schematic diagram of the structure of the vehicle body, the transport device, the material receiving plate and the cutting device of the embodiment of the present application;

[0034] In the figure: 100, leaf removal device; 200, clamping device; 300, cutting device; 400, transport device; 1, first mounting seat; 2, clamping block; 3, clamping claw; 3a, three-finger rotating block; 3b, single-finger rotating block; 4, first spring; 5, return spring; 6, lifting drive motor; 7, crank; 8, connecting rod; 9, guide rod; 10, upper clamping plate; 11, lower clamping plate; 12, clamping belt; 13, positioning roller; 14, moving roller; 1 5. Fixed pin shaft; 16. Connecting plate; 17. Guide rod; 18. Arc guide groove; 19. Reset elastic member; 20. Second mounting seat; 21. Clamp arm; 22. Saw blade; 23. Saw blade drive motor; 24. Fixed arm; 25. Floating arm; 26. Third mounting seat; 27. Transfer transmission motor; 28. Transfer transmission belt; 29. ​​Feeding plate; 30. Baffle; 31. Support arm; 32. Transfer drive roller; 33. Transfer driven roller. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0037] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] At present, my country's lettuce planting industry is developing rapidly, the planting scale is constantly expanding, and the output has increased significantly. However, in the harvesting process of lettuce, the degree of mechanization is still low, and it mainly relies on manual work. This traditional harvesting method is not only labor-intensive and inefficient, but also difficult to meet the needs of modern agriculture for efficient and automated production. In particular, in the whole process of defoliation, cutting and harvesting of lettuce, the existing technology has many shortcomings.

[0040] For example, the invention patent with publication number CN215188314U disclosed a lettuce double-flexible pulling, cutting and harvesting device on December 17, 2021, including a frame, on which a straightening device, a lifting device, a cutting device, and a transportation device are sequentially provided along the harvesting path. The lifting device includes two clamping soft rollers that cooperate with each other, and the outer walls of the clamping soft rollers are provided with lifting threads. The two clamping soft rollers will pull up the lettuce between the two clamping soft rollers during the process of rotating towards each other. The cutting device is used to cut the lettuce after being pulled up, and the transportation device is used to allow the lettuce to pass through the lifting device and the cutting device in sequence.

[0041] Although the above-mentioned prior art realizes the integrated function of cutting and harvesting lettuce, it is unable to remove the useless bottom leaves at the bottom of the lettuce, thus affecting the harvesting efficiency and the convenience of subsequent processing.

[0042] Regarding the above technical issues, such as Figures 1 to 8 As shown, the embodiment of the present application provides a high-efficiency automated lettuce harvester, comprising a vehicle body and a defoliation device 100, a clamping device 200, a cutting device 300 and a transport device 400 arranged on the vehicle body; the clamping device 200 is located at the rear side of the defoliation device 100, the cutting device 300 is located at the lower side of the clamping device 200, and the transport device 400 is located at the rear side of the clamping device 200; the defoliation device 100 is used to remove the bottom leaves on the outside of the lettuce, the clamping device 200 is used to clamp the defoliated lettuce, and the cutting device 300 is used to cut off the bottom of the clamped lettuce and transfer it to the transport device 400, The transport device 400 is used to transport the lettuce after the bottom is cut off to the material frame; the leaf removal device 100 includes a leaf removal clamping claw mechanism and a leaf removal driving mechanism; the leaf removal clamping claw mechanism includes two clamping claw assemblies arranged opposite to each other on the left and right, each clamping claw assembly includes a first mounting seat 1, a clamping block 2, and a clamping claw 3, and the clamping block 2 is connected to the first mounting seat 1 through a first spring 4; wherein the two clamping blocks 2 are arranged to elastically displace toward each other, and the two clamping claws 3 are combined to form a clamping sleeve for covering the lettuce; the leaf removal driving mechanism is used to drive the two first mounting seats 1 to perform lifting and reciprocating motions, and the leaf removal clamping claw mechanism removes the bottom leaves on the outside of the lettuce through the clamping sleeve.

[0043] When the lettuce harvester of the embodiment of the present application is working, it is first driven by the vehicle body to move forward as a whole to the position of the lettuce to be harvested. The two clamping blocks 2 in the defoliation device 100 are initially elastically displaced toward each other to form a clamping sleeve. After the lettuce enters the clamping sleeve, the two clamping claws 3 surround and elastically clamp the lettuce. At this time, the root of the lettuce has not been cut off, so it remains fixed on the ground. Then, the defoliation drive mechanism is started, driving the two first mounting seats 1 to drive the clamping claws 3 to perform lifting and reciprocating motion. Since the root of the lettuce is fixed, the lifting and lowering movement of the clamping claws 3 causes the bottom leaves on the outside of the lettuce to be broken and removed under the action of clamping and pulling. After the defoliation is completed, the vehicle body continues to move forward, driving the defoliated lettuce to enter the clamping range of the clamping device 200 and be firmly clamped by it. Subsequently, the cutting device 300 is started to cut off the bottom of the lettuce, and the cut lettuce is transferred to the transport device 400. Finally, the transport device 400 transports the lettuces to the material frame in an orderly manner, thereby completing the entire automated harvesting process of the lettuces.

[0044] The lettuce harvester of the embodiment of the present application realizes efficient and automated operation of lettuce harvesting. The leaf removal device 100 utilizes the principle of elastic clamping and lifting and reciprocating motion, and can effectively remove the bottom leaves on the outside of the lettuce without moving it, thereby improving the efficiency and accuracy of leaf removal. The clamping device 200 ensures the stability of the lettuce during the cutting process, and the cutting device 300 realizes the rapid cutting of the bottom of the lettuce, and further transfers the lettuce to the transport device 400. Finally, the transport device 400 transports the lettuce to the material frame in an orderly manner. The device has a high degree of integration, and the harvesting process is stable and smooth, which greatly improves the efficiency of lettuce harvesting and reduces the intensity of manual labor.

[0045] like Figure 3 As shown, in some embodiments, the clamp 3 includes a three-finger rotating block 3a and a single-finger rotating block 3b, the three finger rods of the three-finger rotating block 3a are evenly distributed at circumferential intervals, a U-shaped groove is provided on one side of the clamping block 2, the middle part of the three-finger rotating block 3a is rotatably connected to the U-shaped groove through a first pin shaft, one end of the single-finger rotating block 3b is rotatably connected to the U-shaped groove through a second pin shaft, and is connected to a reset spring 5; the three-finger rotating block 3a is arranged on the front side of the single-finger rotating block 3b, and two three-finger rotating blocks 3a and two single-finger rotating blocks 3b together form a clamping sleeve.

[0046] When the vehicle body moves forward, the three-finger rotating block 3a first contacts the stem of the lettuce and rotates as it continues to move forward, allowing the lettuce to enter the clamping sleeve smoothly. When the rotation angle reaches 120 degrees, since the three fingers of the three-finger rotating block 3a are evenly spaced around the circumference, the clamping sleeve maintains a trap structure, which is convenient for leaf removal. Subsequently, the vehicle body moves forward further, and the lettuce pushes the single-finger rotating block 3b and escapes from the clamping sleeve. At this time, the reset spring 5 connected to the single-finger rotating block 3b prompts it to reset quickly, and the clamping sleeve closes again, preparing for the entry of the next lettuce.

[0047] The structural design of the above embodiment realizes the automatic entry and exit of the clamping sleeve for the lettuce by utilizing the rotation of the three-finger rotating block 3a and the single-finger rotating block 3b and the elastic reset characteristics of the reset spring 5. No additional driving device is required to control the extension and retraction of the clamping block 2, thereby improving the degree of automation and simplifying the mechanical structure.

[0048] like Figure 3 As shown, in some embodiments, a pin is provided in the U-shaped groove at the rear of the single-finger rotating block 3b, and the pin is connected to a reset spring 5, and the other end of the reset spring 5 is connected to the rear end of the single-finger rotating block 3b. When the single-finger rotating block 3b is rotated and opened due to the push of the lettuce, the reset spring 5 is stretched and stores elastic potential energy. Once the lettuce leaves the clamping sleeve, the reset spring 5 immediately releases its stored elastic potential energy, and quickly pulls the single-finger rotating block 3b to rotate and reset around the second pin shaft, thereby ensuring that the clamping sleeve can be quickly and automatically reclosed to prepare for the next lettuce clamping.

[0049] like Figure 2As shown, in some embodiments, the leaf removal drive mechanism includes two lifting drive components, and the two lifting drive components are respectively used to drive the corresponding leaf removal clamping mechanism to lift and reciprocate; each lifting drive component includes a lifting drive motor 6, a crank 7, a connecting rod 8 and a vertically arranged guide rod 9; the output shaft of the lifting drive motor 6 is connected to the crank 7, the crank 7 is connected to the connecting rod 8, the connecting rod 8 is connected to the first mounting seat 1, and the guide rod 9 is fixedly connected to the vehicle body and passes through the first mounting seat 1.

[0050] When the lifting drive motor 6 is started, it drives the crank 7 to rotate, and then converts the rotational motion into linear motion through the connecting rod 8, driving the first mounting seat 1 to move up and down along the vertically arranged guide rod 9. The guide rod 9 provides a stable guiding effect for the first mounting seat 1. Through the coordinated work of the two lifting drive components, the leaf removal claw mechanism can accurately perform the lifting and reciprocating motion, thereby realizing the efficient leaf removal operation of vegetables such as lettuce.

[0051] like Figure 4 As shown, in some embodiments, the clamping device includes two conveyor belt clamping mechanisms that are arranged opposite to each other on the left and right; each conveyor belt clamping mechanism includes an upper clamping plate 10, a lower clamping plate 11, a clamping belt 12, a plurality of positioning rollers 13 and a movable roller 14; the positioning roller 13 is vertically rotatable and arranged between the upper clamping plate 10 and the lower clamping plate 11, and one of the positioning rollers 13 is connected to a rotating drive motor; the movable roller 14 can be horizontally displaced and movably arranged between the upper clamping plate 10 and the lower clamping plate 11, and the movable rollers 14 of the two conveyor belt clamping mechanisms are elastically displaced toward each other; the clamping belt 12 is wrapped around all the positioning rollers 13 and the movable rollers 14.

[0052] When the vehicle body moves forward and the defoliated lettuce moves to the clamping device, the rotary drive motor starts, driving the clamping belt 12 to rotate, thereby dragging the upper part of the lettuce between the two conveyor belt clamping mechanisms. At the same time, the mobile roller 14 is elastically displaced according to the diameter of the lettuce to achieve flexible clamping and dragging of the lettuce. By driving the clamping belt 12 to rotate by the rotary drive motor, the defoliated lettuce can be automatically dragged in and clamped between the two conveyor belt clamping mechanisms, achieving automated clamping and dragging. At the same time, since the mobile roller 14 adopts a mutually elastic displacement setting, it can be adaptively adjusted according to the diameter of the lettuce, achieving flexible clamping, avoiding damage to the lettuce due to excessive clamping force, and ensuring the integrity and quality of the lettuce.

[0053] like Figure 4 and Figure 5As shown, in some embodiments, the moving rollers of the two conveyor belt clamping mechanisms are arranged to be elastically displaced toward each other, specifically including: a plurality of fixed pins 15 are provided between the upper clamping plate 10 and the lower clamping plate 11, each moving roller 14 is connected to the corresponding fixed pin through a connecting plate 16, and can rotate circumferentially around the fixed pin 15, and the connecting plate 16 is penetrated and connected with a vertical guide rod 17; a plurality of pairs of arc guide grooves 18 are provided between the upper clamping plate 10 and the lower clamping plate 11, and the upper and lower ends of each guide rod 17 pass through the corresponding arc guide groove 18 respectively; the upper and lower ends of the guide rod 17 are connected with a reset elastic member 19, which is used to pull the guide rod 17 to one side of the arc guide groove 18.

[0054] When the lettuce enters the clamping device, it pushes the moving roller 14, causing the moving roller 14 to move in the arc-shaped guide groove 18 through the connecting plate 16 and the guide rod 17, and stretching the reset elastic member 19. In this way, the moving roller 14 can perform elastic displacement toward each other according to the diameter of the lettuce to achieve flexible clamping. The clamping device can be adaptively adjusted according to the different diameters of the lettuce, improving the flexibility and stability of the clamping, and through the elastic effect of the reset elastic member 19, it can ensure that the moving roller 14 always maintains an appropriate clamping force during the clamping process, avoiding damage to the lettuce or unstable clamping due to excessive or insufficient clamping force.

[0055] like Figure 6 As shown, in some embodiments, the cutting device 300 includes a support arm 31, a second mounting seat 20, two clamping arms 21 and two saw blades 22, one end of the support arm 31 is connected to the vehicle body, and the other end is connected to the second mounting seat 20, the two clamping arms 21 are respectively connected to the second mounting seat 20, the other end of each clamping arm 21 is connected to the saw blade 22 and the saw blade drive motor 23, the saw blade drive motor 23 is connected to the saw blade 22 for driving it to rotate, and the two saw blades 22 are arranged opposite to each other for cutting off the bottom of the lettuce.

[0056] When the lettuce is stably clamped by the clamping device 200 and dragged backward to the cutting device 300, the two saw blades 22 rotate at high speed under the drive of the saw blade drive motor 23. Due to the relative arrangement of the saw blades 22, they can cut the bottom of the lettuce from both sides at the same time. This double-sided cutting method, combined with the stable clamping and dragging of the lettuce by the clamping device 200, ensures a fast and accurate cutting process, and achieves accurate cutting of the bottom of the lettuce.

[0057] like Figure 6 As shown, in some embodiments, the support arm 31 includes a fixed arm 24 and a floating arm 25. The fixed arm 24 is vertically fixed to the vehicle body, a sliding cavity is provided on one side of the fixed arm 24, and a sliding block is provided on one side of the floating arm 25. The sliding block is inserted into the sliding cavity and can be moved up and down in the sliding cavity; the floating arm 25 is connected to the second mounting seat 20.

[0058] When the cutting device moves with the vehicle body to an uneven road surface, the lower end of the floating arm 25 will first contact the road surface and float up and down according to the unevenness of the road surface. This floating action will drive the second mounting base 20 and the saw blade 22 to move up and down together, thereby preventing the saw blade 22 from being damaged by direct contact with the uneven road surface.

[0059] like Figure 7 As shown, in some embodiments, the cutting device 300 is connected to a transfer transmission mechanism, which includes a third mounting seat 26, a transfer transmission motor 27, a transfer transmission belt 28, a transfer drive roller 32 and a transfer driven roller 33; the third mounting seat 26 is fixedly connected to the fixed arm 24, the third mounting seat 26 is connected to the transfer drive roller, the transfer drive roller is connected to the transfer transmission motor 27, the transfer driven roller is rotatably connected between the two clamping arms 21, and the transfer transmission belt 28 is wrapped around the transfer drive roller and the transfer driven roller, which is used to receive the cut lettuce and transfer it to the transportation device 400.

[0060] When the bottom of the lettuce is cut off by the saw blade 22, the clamping device 200 continues to drag the lettuce, causing it to fall naturally onto the transfer transmission belt 28. Subsequently, the transfer transmission motor 27 is started, driving the transfer drive roller to rotate, thereby driving the transfer transmission belt 28 to operate, and smoothly transferring the cut lettuce to the transport device 400. By setting up the transfer transmission mechanism, it is ensured that the lettuce can be quickly and accurately transferred to the receiving plate 29 of the next process after being cut, making the entire processing flow more coherent and improving the automation level of the production line.

[0061] like Figure 8 As shown, in some embodiments, the transport device 400 is a conveyor belt transport device, which is inclined on the vehicle body; the receiving plate 29 is fixedly connected to the vehicle body, one side of which extends to the lower side of the conveyor belt transport device, and the receiving plate 29 is provided with a plurality of avoidance grooves arranged transversely in parallel; a plurality of rows of baffles 30 are arranged transversely along the conveyor belt of the conveyor belt transport device, and each row of baffles 30 corresponds to one of the avoidance grooves, so that the baffle 30 can pass through the receiving plate 29 during movement.

[0062] The transfer transmission mechanism transfers the lettuce to the receiving plate 29 after cutting. When the conveyor belt drives the baffle 30 to move, the baffle 30 can smoothly pass through the avoidance groove on the receiving plate 29 and take away the lettuce on the receiving plate 29, thereby realizing continuous and stable transportation of the lettuce.

[0063] In some embodiments, the lettuce harvester is further provided with a control box for intelligent control and coordination of the entire harvesting process. The control box receives signals from various sensors and accurately controls the leaf removal device, the clamping device, the cutting device and the transport device according to preset programs and algorithms to achieve automated harvesting of lettuce.

[0064] The internal control module of the control box can be implemented with PLC or embedded system, and accurate control and detection of each device can be achieved by writing control programs and algorithms.

[0065] For example, the sensor signal in the leaf removal device is received to determine whether the lettuce enters the clamping sleeve, and the lifting drive motor of the leaf removal drive mechanism is controlled to start and stop, so as to realize the lifting and reciprocating motion of the clamping claws and remove the bottom leaves outside the lettuce.

[0066] For example, monitor the operating status of the conveyor belt clamping mechanism in the clamping device to ensure that the clamping belt rotates normally.

[0067] For example, it receives signals from sensors in the cutting device, determines whether the lettuce has reached the cutting position, controls the start and stop of the saw blade drive motor, as well as the rotation speed and cutting depth of the saw blade, to achieve precise cutting of the bottom of the lettuce.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A highly efficient and automated lettuce harvester, characterized in that: The vehicle comprises a vehicle body and a leaf removing device (100), a clamping device (200), a cutting device (300) and a transporting device (400) arranged on the vehicle body; the clamping device (200) is located at the rear side of the leaf removing device (100), the cutting device (300) is located at the lower side of the clamping device (200), and the transporting device (400) is located at the rear side of the clamping device (200); The leaf removal device (100) is used to remove the bottom leaves on the outside of the lettuce, the clamping device (200) is used to clamp the lettuce after the leaf removal, the cutting device (300) is used to cut off the bottom of the clamped lettuce and transfer it to the transportation device (400), and the transportation device (400) is used to transport the lettuce with the bottom cut off to the material frame; The leaf removal device (100) comprises a leaf removal clamp mechanism and a leaf removal drive mechanism; The leaf removal clamp mechanism comprises two clamp assemblies arranged opposite to each other on the left and right sides, each of the clamp assemblies comprises a first mounting seat (1), a clamping block (2), and a clamping jaw (3), and the clamping block (2) is connected to the first mounting seat (1) via a first spring (4); The two clamping blocks (2) are arranged to be elastically displaced towards each other, and the two clamping claws (3) are combined to form a clamping sleeve for clamping the lettuce; The leaf removal drive mechanism is used to drive the two first mounting seats (1) to perform lifting and reciprocating motions, and the leaf removal clamp mechanism removes the bottom leaves on the outer side of the lettuce through a clamping sleeve.

2. A highly efficient and automated lettuce harvester according to claim 1, characterized in that: The clamping jaw (3) comprises a three-finger rotating block (3a) and a single-finger rotating block (3b), the three finger rods of the three-finger rotating block (3a) are evenly spaced, a U-shaped groove is provided on one side of the clamping block (2), the middle part of the three-finger rotating block (3a) is rotatably connected to the U-shaped groove via a first pin shaft, one end of the single-finger rotating block (3b) is rotatably connected to the U-shaped groove via a second pin shaft, and is connected to a reset spring (5); the three-finger rotating block (3a) is arranged at the front side of the single-finger rotating block (3b), two of the three-finger rotating blocks (3a) and two of the single-finger rotating blocks (3b) together form the clamping sleeve; a pin rod is provided in the U-shaped groove at the rear of the single-finger rotating block (3b), the pin rod is connected to the reset spring (5), and the other end of the reset spring (5) is connected to the rear end of the single-finger rotating block (3b).

3. The efficient and automated lettuce harvester according to claim 1, characterized in that: It includes a control box connected to the vehicle body. The control box is provided with a PLC or an embedded system for receiving signals from various sensors and controlling the leaf removal device, the clamping device, the cutting device and the transport device according to a preset program and algorithm to achieve automatic harvesting of lettuce.

4. The efficient and automated lettuce harvester according to claim 1, characterized in that: The leaf removal driving mechanism comprises two lifting driving components, and the two lifting driving components are respectively used to drive the corresponding leaf removal clamping mechanism to lift and reciprocate; Each of the lifting drive components comprises a lifting drive motor (6), a crank (7), a connecting rod (8) and a vertically arranged guide rod (9); the output shaft of the lifting drive motor (6) is connected to the crank (7), the crank (7) is connected to the connecting rod (8), the connecting rod (8) is connected to the first mounting seat (1), and the guide rod (9) is fixedly connected to the vehicle body and penetrates and connects to the first mounting seat (1).

5. The efficient and automated lettuce harvester according to claim 1, characterized in that: The clamping device comprises two conveyor belt clamping mechanisms arranged opposite to each other on the left and right sides; Each of the conveyor belt clamping mechanisms comprises an upper clamping plate (10), a lower clamping plate (11), a clamping belt (12), a plurality of positioning rollers (13) and a moving roller (14); the positioning rollers (13) are vertically rotatably arranged between the upper clamping plate (10) and the lower clamping plate (11), and one of the positioning rollers (13) is connected to a rotating drive motor; The movable roller (14) is horizontally movable and is disposed between the upper clamping plate (10) and the lower clamping plate (11), and the movable rollers (14) of the two conveyor belt clamping mechanisms are elastically displaced toward each other; The clamping belt (12) is wound around all the positioning rollers (13) and the moving rollers (14).

6. The efficient and automated lettuce harvester according to claim 5, characterized in that: The two movable rollers of the conveyor belt clamping mechanism are arranged to be elastically displaced toward each other, specifically comprising: A plurality of fixed pins (15) are provided between the upper clamping plate (10) and the lower clamping plate (11); each of the movable rollers (14) is connected to the corresponding fixed pins through a connecting plate (16) and can rotate around the fixed pins (15); a vertical guide rod (17) is connected through the connecting plate (16); a plurality of pairs of arc-shaped guide grooves (18) are provided between the upper clamping plate (10) and the lower clamping plate (11); the upper and lower ends of each guide rod (17) pass through the corresponding arc-shaped guide groove (18); The upper and lower ends of the guide rod (17) are both connected to a reset elastic member (19) for pulling the guide rod (17) toward one side of the arc-shaped guide groove (18).

7. The efficient and automated lettuce harvester according to claim 1, characterized in that: The cutting device (300) comprises a support arm (31), a second mounting seat (20), two clamping arms (21) and two saw blades (22); one end of the support arm (31) is connected to the vehicle body, and the other end is connected to the second mounting seat (20); the two clamping arms (21) are respectively connected to the second mounting seat (20); the other end of each clamping arm (21) is connected to the saw blade (22) and a saw blade driving motor (23); the saw blade driving motor (23) is connected to the saw blade (22) for driving the saw blade to rotate; the two saw blades (22) are arranged opposite to each other and are used to cut off the bottom of the lettuce.

8. The efficient and automated lettuce harvester according to claim 7, characterized in that: The support arm (31) comprises a fixed arm (24) and a floating arm (25); the fixed arm (24) is vertically fixed to the vehicle body; a sliding cavity is provided on one side of the fixed arm (24); a sliding block is provided on one side of the floating arm (25); the sliding block is inserted into the sliding cavity and can move up and down in the sliding cavity; the floating arm (25) is connected to the second mounting seat (20); and the support arm (31) is used to float up and down following the unevenness of the road surface.

9. The efficient and automated lettuce harvester according to claim 8, characterized in that: The cutting device (300) is connected to a transfer transmission mechanism, which comprises a third mounting seat (26), a transfer transmission motor (27), a transfer transmission belt (28), a transfer drive roller (32) and a transfer driven roller (33); the third mounting seat (26) is fixedly connected to the fixed arm (24), the third mounting seat (26) is connected to the transfer drive roller, the transfer drive roller is connected to the transfer transmission motor (27), the transfer driven roller is rotatably connected between the two clamping arms (21), and the transfer transmission belt (28) is wound around the transfer drive roller and the transfer driven roller, and is used to receive the cut lettuce and transfer it to the transport device (400).

10. The efficient and automated lettuce harvester according to claim 1, characterized in that: The transport device (400) is a conveyor belt transport device, and the conveyor belt transport device is arranged obliquely on the vehicle body; A receiving plate (29) is fixedly connected to the vehicle body, one side of which extends to the lower side of the conveyor belt transport device, and the receiving plate (29) is provided with a plurality of avoidance grooves arranged in parallel in a transverse direction; a plurality of rows of baffles (30) are arranged in a transverse direction along the conveyor belt of the conveyor belt transport device, and each row of the baffles (30) corresponds to one of the avoidance grooves, so that the baffles (30) can pass through the receiving plate (29) during movement.

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