High-efficiency automatic lettuce harvesting machine

Abstract

The application discloses a high-efficiency automatic lettuce harvesting machine, which comprises a vehicle body and a leaf-removing device, a clamping device, a cutting device and a conveying device arranged on the vehicle body; the clamping device is located at the rear side of the leaf-removing device, the cutting device is located at the lower side of the clamping device, and the conveying device is located at the rear side of the clamping device; the leaf-removing device is used for removing the bottom leaves on the outer side of the lettuce, the clamping device is used for clamping the lettuce after the leaves are removed, the cutting device is used for cutting the bottom of the clamped lettuce and transferring and conveying the bottom to the conveying device, and the conveying device is used for conveying the lettuce after the bottom is cut to a material frame; through integration of the leaf-removing device, the clamping device, the cutting device and the conveying device, the whole-process automatic operation of the lettuce from leaf removal, clamping, cutting to conveying is realized, the production efficiency is greatly improved, and the labor intensity is reduced.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment technology, specifically to a high-efficiency automated lettuce harvester. Background Technology

[0002] Currently, my country's lettuce cultivation industry is developing rapidly, with the planting scale continuously expanding and yields significantly increasing. However, the level of mechanization in the lettuce harvesting stage remains low, relying mainly on manual labor. This traditional harvesting method is not only labor-intensive and inefficient, but also fails to meet the demands of modern agriculture for efficient and automated production. In particular, existing technologies have many shortcomings in the entire process of lettuce removal, cutting, and harvesting. 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 and cutting harvesting device on December 17, 2021, the device includes a frame. Along the harvesting path, the frame is provided with a straightening device, a lifting device, a cutting device, and a transport device. The lifting device includes two cooperating clamping soft rollers. The outer wall of the clamping soft rollers is provided with lifting threads. During the process of the two clamping soft rollers rotating in opposite directions, the lettuce that is cooperating between the two clamping soft rollers is lifted. The cutting device is used to cut the lifted lettuce. The transport device is used to make the lettuce pass through the lifting device and the cutting device in sequence.

[0003] While the aforementioned existing technologies have achieved the integration of cutting and harvesting functions for lettuce, they cannot remove the useless lower leaves of the lettuce, which affects harvesting efficiency and the convenience of subsequent processing. Summary of the Invention

[0004] The purpose of this invention is to address the problems existing in the prior art by providing a highly efficient and automated lettuce harvester. By integrating a leaf-removing device, a clamping device, a cutting device, and a transport device, it achieves fully automated operation of lettuce from leaf removal, clamping, cutting to transport, greatly improving production efficiency and reducing manual labor intensity.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A high-efficiency automated lettuce harvester includes a vehicle body and a defoliating device, a clamping device, a cutting device, and a transporting device disposed on the vehicle body; the clamping device is located behind the defoliating device, the cutting device is located below the clamping device, and the transporting device is located behind the clamping device; the defoliating device is used to remove the outer bottom leaves 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 bottom-cut lettuce to a feed frame; The leaf-removing device includes a leaf-removing gripper mechanism and a leaf-removing drive mechanism. The leaf-removing gripper mechanism includes two gripper assemblies arranged opposite each other. Each gripper assembly includes a first mounting base, a clamping block, and a gripper. The clamping block is connected to the first mounting base via a first spring. The two clamping blocks are elastically displaced towards each other, and the two grippers together form a clamping sleeve for holding the lettuce. The leaf-removing drive mechanism drives the two first mounting bases to perform a reciprocating lifting motion, and the leaf-removing gripper mechanism removes the outer bottom leaves of the lettuce through the clamping sleeve.

[0006] The gripper includes a three-finger rotating block and a single-finger rotating block. The three fingers of the three-finger rotating block are evenly spaced in a circle. A U-shaped groove is provided on one side of the gripping block. The middle part of the three-finger rotating block is rotatably connected to the U-shaped groove through a first pin. One end of the single-finger rotating block is rotatably connected to the U-shaped groove through a second pin and connected to a return spring. The three-finger rotating block is located in front of the single-finger rotating block. The two three-finger rotating blocks and the two single-finger rotating blocks together form the gripping sleeve.

[0007] The U-shaped groove contains a pin located behind 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.

[0008] The lettuce harvester includes a control box connected to the vehicle body. The control box is equipped with a PLC or embedded system for receiving signals from various sensors and controlling the defoliation device, the clamping device, the cutting device, and the transport device according to a preset program and algorithm to achieve automated harvesting of lettuce.

[0009] The leaf removal drive mechanism includes two lifting drive components, each used to drive the corresponding leaf removal gripper mechanism to move up and down reciprocally. 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 base, and the guide rod is fixedly connected to the vehicle body and passes through the first mounting base.

[0010] The clamping device includes two conveyor belt clamping mechanisms arranged opposite each other; each conveyor belt clamping mechanism includes an upper clamping plate, a lower clamping plate, a clamping belt, several positioning rollers and moving rollers; the positioning rollers are vertically rotatably disposed between the upper clamping plate and the lower clamping plate, and one of the positioning rollers is connected to a rotary drive motor; the moving rollers are horizontally movable between the upper clamping plate and the lower clamping plate, and the moving rollers of the two conveyor belt clamping mechanisms are elastically displaced towards each other; the clamping belt is wound around all the positioning rollers and the moving rollers.

[0011] The two conveyor belt clamping mechanisms have movable rollers that are elastically displaced in opposite directions. Specifically, the movable rollers are connected to the upper and lower clamping plates by a plurality of fixed pins, and each movable roller is connected to the corresponding fixed pin by a connecting plate and can rotate circumferentially around the fixed pin. A vertical guide rod is connected through the connecting plate. A plurality of arc-shaped guide grooves are provided between the upper and lower clamping plates, and the upper and lower ends of each guide rod pass through the corresponding arc-shaped guide groove. The upper and lower ends of each guide rod are connected to a reset elastic element for pulling the guide rod towards one side of the arc-shaped guide groove.

[0012] The cutting device includes a support arm, a second mounting base, 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 base. The two clamping arms are respectively connected to the second mounting base. The other end of each clamping arm is connected to the saw blade and a saw blade drive motor. The saw blade drive motor is connected to the saw blade and is used to drive it to rotate. The two saw blades are arranged opposite to each other and are used to cut off the bottom of the lettuce.

[0013] 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 within the sliding cavity. The floating arm is connected to the second mounting base. The support arm is used to float up and down to follow the unevenness of the road surface.

[0014] The cutting device is connected to a transfer mechanism, which includes a third mounting base, a transfer motor, a transfer belt, a transfer drive roller, and a transfer driven roller. The third mounting base is fixedly connected to the fixed arm and connected to the transfer drive roller. The transfer drive roller is connected to the transfer motor. The transfer driven roller is rotatably connected between the two clamping arms. The transfer belt is wound around the transfer drive roller and the transfer driven roller to receive the cut lettuce and transfer it to the transport device.

[0015] The transport device is a conveyor belt transport device, which is inclinedly mounted on the vehicle body; the receiving plate is fixedly connected to the vehicle body, with one side extending to the lower side of the conveyor belt transport device, and the receiving plate is provided with a number of horizontally arranged clearance slots; the conveyor belt of the conveyor belt transport device is provided with a number of rows of baffles along the horizontal direction, and each row of baffles corresponds to one of the clearance slots, so that the baffles can pass through the receiving plate during movement.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. The lettuce harvester integrates a leaf-removing device, a clamping device, a cutting device, and a transport device, realizing fully automated operation of lettuce from leaf removal, clamping, cutting to transport, which greatly improves production efficiency and reduces manual labor intensity. 2. The leaf removal device utilizes the principle of elastic clamping and reciprocating lifting motion to effectively remove the outer bottom leaves of the lettuce without moving it, thus improving the efficiency and accuracy of leaf removal and avoiding the workload of subsequent processing. 3. By utilizing the rotation of the three-finger rotating block and the single-finger rotating block, as well as the elastic reset characteristic of the return spring, the automatic entry and exit of the lettuce into and out of the clamping sleeve is realized. No additional drive device is needed to control the extension and retraction of the clamping block, which improves the degree of automation and simplifies the mechanical structure. Among them, the return spring pulls the single-finger rotating block to rotate and reset around the second pin, thereby ensuring that the clamping sleeve can quickly and automatically reclose, preparing for the next clamping of lettuce. 4. The clamping device, through a rotary drive motor and flexible clamping design, can automatically pull in and firmly clamp the lettuce after the leaves have been removed. Combined with the double-sided cutting method of the cutting device, it can quickly and accurately cut the bottom of the lettuce. 5. The moving rollers in the clamping device are set with opposite elastic displacement, which can adaptively adjust according to the diameter of the lettuce, realize flexible clamping, avoid damage to the lettuce due to excessive clamping force, and ensure the integrity and quality of the lettuce. 6. The floating design of the cutting device can adapt to uneven road surfaces and protect the saw blade from damage. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the lettuce harvester according to an embodiment of this application; Figure 2 This is a schematic diagram of the leaf removal device according to an embodiment of this application; Figure 3 This is a schematic diagram of the gripper assembly in an embodiment of this application, wherein the three-finger rotating block and the single-finger rotating block are in a split state; Figure 4 This is a schematic diagram of the clamping device according to an embodiment of this application; Figure 5 This is a schematic diagram of the conveyor belt clamping mechanism according to an embodiment of this application; Figure 6This is a schematic diagram of the cutting device according to an embodiment of this application, in which the transfer mechanism is hidden; Figure 7 This is a complete structural schematic diagram of the cutting device according to an embodiment of this application; Figure 8 This is a schematic diagram of the vehicle body, transport device, receiving plate, and cutting device in an embodiment of this application. In the diagram: 100, Leaf removal device; 200, Clamping device; 300, Cutting device; 400, Transport device; 1, First mounting base; 2, Clamping block; 3, Gripper; 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 one; 10, Upper clamping plate; 11, Lower clamping plate; 12, Clamping belt; 13, Positioning roller; 14, Moving roller; 5. Fixed pin; 16. Connecting plate; 17. Guide rod II; 18. Arc-shaped guide groove; 19. Reset elastic element; 20. Second mounting base; 21. Clamping arm; 22. Saw blade; 23. Saw blade drive motor; 24. Fixed arm; 25. Floating arm; 26. Third mounting base; 27. Transfer motor; 28. Transfer belt; 29. ​​Receiving plate; 30. Baffle; 31. Support arm; 32. Transfer drive roller; 33. Transfer driven roller. Detailed Implementation

[0019] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply 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.

[0022] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] Currently, my country's lettuce cultivation industry is developing rapidly, with the planting scale continuously expanding and yields significantly increasing. However, the level of mechanization in the lettuce harvesting stage remains low, relying mainly on manual labor. This traditional harvesting method is not only labor-intensive and inefficient, but also fails to meet the demands of modern agriculture for efficient and automated production. In particular, existing technologies have many shortcomings in the entire process of lettuce removal, cutting, and harvesting.

[0024] For example, the invention patent with publication number CN215188314U disclosed on December 17, 2021, a double flexible pulling and cutting harvesting device for lettuce, including a frame, with a straightening device, a lifting device, a cutting device and a transport device arranged sequentially along the harvesting path on the frame. The lifting device includes two cooperating clamping soft rollers, and the outer wall of the clamping soft rollers is provided with lifting threads. During the process of the two clamping soft rollers rotating in opposite directions, the lettuce that is cooperating between the two clamping soft rollers is lifted. The cutting device is used to cut the lifted lettuce. The transport device is used to make the lettuce pass through the lifting device and the cutting device in sequence.

[0025] While the aforementioned existing technologies have achieved the integration of cutting and harvesting functions for lettuce, they cannot remove the useless lower leaves of the lettuce, which affects harvesting efficiency and the convenience of subsequent processing.

[0026] To address the above technical issues, such as Figures 1 to 8As shown in the figure, this application provides a high-efficiency automated lettuce harvester, including a vehicle body and a defoliating device 100, a clamping device 200, a cutting device 300, and a transport device 400 disposed on the vehicle body; the clamping device 200 is located behind the defoliating device 100, the cutting device 300 is located below the clamping device 200, and the transport device 400 is located behind the clamping device 200; the defoliating device 100 is used to remove the outer bottom leaves of the lettuce, the clamping device 200 is used to clamp the defoliated lettuce, and the cutting device 300 is used to cut the bottom of the clamped lettuce and transfer it to the transport device 400. The transport device 400 is used to transport the bottom-cut lettuce to the material frame; the leaf-removing device 100 includes a leaf-removing gripper mechanism and a leaf-removing drive mechanism; the leaf-removing gripper mechanism includes two gripper assemblies arranged opposite each other, each gripper assembly including a first mounting base 1, a clamping block 2, and a gripper 3, the clamping block 2 and the first mounting base 1 are connected by a first spring 4; wherein, the two clamping blocks 2 are elastically displaced towards each other, and the two grippers 3 are closed to form a clamping sleeve for holding the lettuce; the leaf-removing drive mechanism is used to drive the two first mounting bases 1 to perform lifting and reciprocating motion, and the leaf-removing gripper mechanism removes the bottom leaves on the outside of the lettuce through the clamping sleeve.

[0027] In this embodiment of the lettuce harvester, the vehicle body first moves forward to the location of the lettuce to be harvested. The two clamping blocks 2 in the defoliation device 100 initially move elastically towards each other, forming a clamping sleeve. When the lettuce enters this clamping sleeve, the two grippers 3 close and elastically hold the lettuce. At this time, the root of the lettuce has not yet been cut off, so it remains fixed to the ground. Next, the defoliation drive mechanism is activated, driving the two first mounting seats 1 to move the grippers 3 in a reciprocating up-and-down motion. Because the lettuce root is fixed, the up-and-down motion of the grippers 3 causes the outer bottom leaves of the lettuce to be broken off and removed under the clamping and pulling action. After defoliation is completed, the vehicle body continues to move forward, bringing the defoliated lettuce into the clamping range of the clamping device 200, where it is firmly clamped. Subsequently, the cutting device 300 is activated, cutting off the bottom of the lettuce and transferring the cut lettuce to the transport device 400. Finally, the transport device 400 transports the lettuce into the feed basket in an orderly manner, thus completing the entire automated harvesting process of the lettuce.

[0028] The lettuce harvester of this application embodiment achieves efficient and automated lettuce harvesting. The leaf-removing device 100 utilizes the principle of elastic clamping and reciprocating lifting motion to effectively remove the outer bottom leaves of the lettuce without moving it, improving removal efficiency and accuracy. The clamping device 200 ensures the stability of the lettuce during the cutting process, while the cutting device 300 quickly cuts the bottom of the lettuce and further transfers it to the transport device 400. Finally, the transport device 400 orderly transports the lettuce to the feed frame. The device has a high degree of integration, and the harvesting process is stable and smooth, greatly improving the efficiency of lettuce harvesting and reducing manual labor intensity.

[0029] like Figure 3 As shown, in some embodiments, the gripper 3 includes a three-finger rotating block 3a and a single-finger rotating block 3b. The three fingers of the three-finger rotating block 3a are evenly distributed in a circular pattern. A U-shaped groove is provided on one side of the gripping block 2. The middle part of the three-finger rotating block 3a is rotatably connected to the U-shaped groove through a first pin. One end of the single-finger rotating block 3b is rotatably connected to the U-shaped groove through a second pin and connected to a return spring 5. The three-finger rotating block 3a is located in front of the single-finger rotating block 3b. The two three-finger rotating blocks 3a and the two single-finger rotating blocks 3b together form a gripping sleeve.

[0030] As the vehicle moves forward, the three-finger rotating block 3a first contacts the lettuce stem and rotates as it continues to move forward, allowing the lettuce to smoothly enter the clamping sleeve. When the rotation angle reaches 120 degrees, the clamping sleeve maintains its loop structure due to the evenly spaced three fingers of the three-finger rotating block 3a, facilitating leaf removal. Subsequently, as the vehicle moves further forward, the lettuce pushes the single-finger rotating block 3b and disengages from the clamping sleeve. At this point, the return spring 5 connected to the single-finger rotating block 3b causes it to quickly return to its original position, and the clamping sleeve closes again, preparing for the entry of the next lettuce.

[0031] The above embodiment's structural design utilizes the rotation of the three-finger rotating block 3a and the single-finger rotating block 3b, as well as the elastic reset characteristic of the reset spring 5, to achieve automatic entry and exit of the lettuce from the clamping sleeve. No additional drive device is needed to control the extension and retraction of the clamping block 2, thus improving the degree of automation and simplifying the mechanical structure.

[0032] like Figure 3 As shown, in some embodiments, a pin is provided inside the U-shaped groove behind the single-finger rotating block 3b. The pin is connected to a return spring 5, and the other end of the return spring 5 is connected to the rear end of the single-finger rotating block 3b. When the single-finger rotating block 3b is rotated open by the push of the lettuce, the return spring 5 is stretched and stores elastic potential energy. Once the lettuce leaves the clamping sleeve, the return spring 5 immediately releases its stored elastic potential energy, quickly pulling the single-finger rotating block 3b to rotate and reset around the second pin, thereby ensuring that the clamping sleeve can quickly and automatically reclose, preparing for the next clamping of the lettuce.

[0033] like Figure 2 As shown, in some embodiments, the leaf removal drive mechanism includes two lifting drive components, which are used to drive the corresponding leaf removal gripper mechanism to move up and down reciprocally. 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 base 1, and the guide rod 9 is fixedly connected to the vehicle body and passes through the first mounting base 1.

[0034] When the lifting drive motor 6 starts, it drives the crank 7 to rotate, which in turn converts the rotational motion into linear motion through the connecting rod 8, driving the first mounting base 1 to rise and fall along the vertically set guide rod 9. The guide rod 9 provides a stable guide for the first mounting base 1. Through the coordinated work of the two lifting drive components, the leaf-removing gripper mechanism can accurately perform the lifting and reciprocating motion, achieving efficient leaf removal for vegetables such as lettuce.

[0035] like Figure 4 As shown, in some embodiments, the clamping device includes two conveyor belt clamping mechanisms arranged opposite each other; 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 moving roller 14; the positioning rollers 13 are vertically rotatably disposed between the upper clamping plate 10 and the lower clamping plate 11, and one of the positioning rollers 13 is connected to a rotary drive motor; the moving rollers 14 are horizontally movable between the upper clamping plate 10 and the lower clamping plate 11, and the moving rollers 14 of the two conveyor belt clamping mechanisms are elastically displaced towards each other; the clamping belt 12 is wound around all the positioning rollers 13 and the moving rollers 14.

[0036] As the vehicle moves forward, the lettuce, after the leaves have been removed, moves to the clamping device. The rotary drive motor then starts, rotating the clamping belt 12, which pulls the upper part of the lettuce between the two conveyor belt clamping mechanisms. Simultaneously, the moving roller 14 elastically displaces according to the diameter of the lettuce, achieving flexible clamping and dragging. By driving the clamping belt 12 to rotate via the rotary drive motor, the lettuce, after the leaves have been removed, can be automatically dragged and clamped between the two conveyor belt clamping mechanisms, achieving automated clamping and dragging. Furthermore, because the moving roller 14 uses an opposing elastic displacement setting, it can adaptively adjust according to the diameter of the lettuce, achieving flexible clamping and avoiding damage to the lettuce due to excessive clamping force, thus ensuring the integrity and quality of the lettuce.

[0037] like Figure 4 and Figure 5 As shown, in some embodiments, the moving rollers of the two conveyor belt clamping mechanisms are configured for opposite elastic displacement, 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 a vertical guide rod 17 is connected through the connecting plate 16; a plurality of arc-shaped 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-shaped guide groove 18; a reset elastic element 19 is connected to the upper and lower ends of the guide rod 17 to pull the guide rod 17 toward one side of the arc-shaped guide groove 18.

[0038] When the lettuce enters the clamping device, it pushes the moving roller 14, causing the moving roller 14 to move within the arc-shaped guide groove 18 via the connecting plate 16 and guide rod 17, and stretching the reset elastic element 19. In this way, the moving roller 14 can perform opposite elastic displacement according to the diameter of the lettuce, achieving flexible clamping. This allows the clamping device to adaptively adjust to different diameters of lettuce, improving the flexibility and stability of clamping. Moreover, the elastic action of the reset elastic element 19 ensures that the moving roller 14 maintains an appropriate clamping force throughout the clamping process, avoiding damage to the lettuce or unstable clamping due to excessive or insufficient clamping force.

[0039] like Figure 6 As shown, in some embodiments, the cutting device 300 includes a support arm 31, a second mounting base 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 base 20. The two clamping arms 21 are respectively connected to the second mounting base 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 and is used to drive it to rotate. The two saw blades 22 are arranged opposite to each other and are used to cut off the bottom of the lettuce.

[0040] As the lettuce is stably held 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 simultaneously cut the bottom of the lettuce from both sides. 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, achieving precise cutting of the bottom of the lettuce.

[0041] 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 slider is provided on one side of the floating arm 25. The slider is inserted into the sliding cavity and can move up and down within the sliding cavity. The floating arm 25 is connected to the second mounting base 20.

[0042] When the cutting device moves with the vehicle 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 cause the second mounting base 20 and the saw blade 22 to move up and down together, thereby avoiding damage to the saw blade 22 due to direct contact with the uneven road surface.

[0043] like Figure 7As shown, in some embodiments, the cutting device 300 is connected to a transfer mechanism, which includes a third mounting base 26, a transfer motor 27, a transfer belt 28, a transfer drive roller 32, and a transfer driven roller 33. The third mounting base 26 is fixedly connected to the fixed arm 24 and connected to the transfer drive roller. The transfer drive roller is connected to the transfer motor 27. The transfer driven roller is rotatably connected between two clamping arms 21. The transfer belt 28 is wound around the transfer drive roller and the transfer driven roller to receive the cut lettuce and transfer it to the transport device 400.

[0044] After the bottom of the lettuce is cut off by the saw blade 22, the clamping device 200 continues to drag the lettuce, allowing it to fall naturally onto the transfer conveyor belt 28. Subsequently, the transfer motor 27 starts, driving the transfer drive roller to rotate, which in turn drives the transfer conveyor belt 28 to smoothly transfer the cut lettuce to the transport device 400. By setting up the transfer mechanism, it is ensured that the lettuce can be quickly and accurately conveyed to the receiving plate 29 of the next process after cutting, making the entire processing flow more seamless and improving the automation level of the production line.

[0045] like Figure 8 As shown, in some embodiments, the transport device 400 is a conveyor belt transport device, which is inclinedly mounted on the vehicle body; the receiving plate 29 is fixedly connected to the vehicle body, and one side of it extends to the lower side of the conveyor belt transport device. The receiving plate 29 is provided with a plurality of horizontally arranged clearance slots; the conveyor belt of the conveyor belt transport device is provided with a plurality of rows of baffles 30 along the horizontal direction, and each row of baffles 30 corresponds to one of the clearance slots, so that the baffles 30 can pass through the receiving plate 29 during movement.

[0046] The transfer mechanism conveys the lettuce to the receiving plate 29 after it is cut. When the conveyor belt drives the baffle 30 to move, the baffle 30 can smoothly pass through the clearance groove on the receiving plate 29 and take the lettuce on the receiving plate 29 away, so as to realize the continuous and stable conveying of the lettuce.

[0047] In some embodiments, the lettuce harvester is further equipped with a control box for intelligent control and coordination of the entire harvesting process. The control box receives signals from various sensors and, according to preset programs and algorithms, precisely controls the defoliation device, clamping device, cutting device, and conveying device to achieve automated harvesting of lettuce.

[0048] The control module inside the control box can be implemented using a PLC or an embedded system. By writing control programs and algorithms, precise control and detection of each device can be achieved.

[0049] For example, it receives signals from sensors in the leaf-removing device to determine whether the lettuce has entered the clamping sleeve. It controls the start and stop of the lifting drive motor of the leaf-removing drive mechanism to realize the reciprocating motion of the grippers to remove the outer bottom leaves of the lettuce.

[0050] For example, monitor the operating status of the conveyor belt clamping mechanism in the clamping device to ensure that the clamping belt rotates normally.

[0051] For example, by receiving signals from sensors in the cutting device, determining whether the lettuce has reached the cutting position, controlling 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.

[0052] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-efficiency automated lettuce harvester, characterized in that, The device includes a vehicle body and a leaf removal device (100), a clamping device (200), a cutting device (300), and a transport device (400) disposed on the vehicle body; the clamping device (200) is located on the rear side of the leaf removal device (100), the cutting device (300) is located on the lower side of the clamping device (200), and the transport device (400) is located on the rear side of the clamping device (200); The leaf-removing 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 leaf removal, the cutting device (300) is used to cut off the bottom of the clamped lettuce and transfer it to the transport device (400), and the transport device (400) is used to transport the lettuce with the bottom cut to the material frame. The leaf removal device (100) includes a leaf removal gripper mechanism and a leaf removal drive mechanism; The leaf removal gripper mechanism includes two gripper assemblies arranged opposite each other on the left and right. Each gripper assembly includes a first mounting base (1), a gripping block (2), and a gripper (3). The gripping block (2) is connected to the first mounting base (1) by a first spring (4). Among them, the two clamping blocks (2) are elastically displaced towards each other, and the two clamping claws (3) are enclosed to form a clamping sleeve for holding the lettuce; The leaf removal drive mechanism is used to drive the two first mounting seats (1) to perform lifting and reciprocating motion, and the leaf removal gripper mechanism removes the bottom leaves on the outside of the lettuce through the gripping sleeve; The gripper (3) includes a three-finger rotating block (3a) and a single-finger rotating block (3b). The three fingers of the three-finger rotating block (3a) are evenly spaced in a circular pattern. A U-shaped groove is provided on one side of the gripping block (2). The middle part of the three-finger rotating block (3a) is rotatably connected to the U-shaped groove through a first pin. One end of the single-finger rotating block (3b) is rotatably connected to the U-shaped groove through a second pin and connected to a return spring (5). The three-finger rotating block (3a) is located in front of the single-finger rotating block (3b), and the two three-finger rotating blocks (3a) and the two single-finger rotating blocks (3b) together form the clamping sleeve; a pin is provided in the U-shaped groove behind the single-finger rotating block (3b), the pin is connected to the return spring (5), and the other end of the return spring (5) is connected to the rear end of the single-finger rotating block (3b); when the three-finger rotating block (3a) rotates 120 degrees, the clamping sleeve maintains the loop structure.

2. The high-efficiency automated lettuce harvester according to claim 1, characterized in that, The system includes a control box connected to the vehicle body. The control box is equipped with a PLC or embedded system for receiving signals from various sensors and controlling the leaf-removing device, the clamping device, the cutting device, and the transport device according to a preset program and algorithm to achieve automated harvesting of lettuce.

3. The high-efficiency automated lettuce harvester according to claim 1, characterized in that, The leaf removal drive mechanism includes two lifting drive components, which are respectively used to drive the corresponding leaf removal gripper mechanism to move up and down reciprocally. Each of the lifting drive components 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 base (1), and the guide rod (9) is fixedly connected to the vehicle body and passes through the first mounting base (1).

4. The high-efficiency automated lettuce harvester according to claim 1, characterized in that, The clamping device includes two conveyor belt clamping mechanisms arranged opposite each other on the left and right sides; Each of the conveyor belt clamping mechanisms includes 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 disposed between the upper clamping plate (10) and the lower clamping plate (11), and one of the positioning rollers (13) is connected to a rotary drive motor; The movable roller (14) is horizontally displaceable and movable 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 towards each other. The clamping belt (12) is wound around all of the positioning rollers (13) and the moving rollers (14).

5. The high-efficiency automated lettuce harvester according to claim 4, characterized in that, The two moving rollers of the conveyor belt clamping mechanism are configured for opposite elastic displacement, specifically including: Several fixed pins (15) are provided between the upper clamping plate (10) and the lower clamping plate (11). Each movable roller (14) is connected to the corresponding fixed pin through a connecting plate (16) and can rotate around the fixed pin (15). A vertical guide rod (17) is connected through the connecting plate (16). Several 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 2 (17) are both connected to a reset elastic element (19), which is used to pull the guide rod 2 (17) toward one side of the arc-shaped guide groove (18).

6. The high-efficiency automated lettuce harvester according to claim 1, characterized in that, The cutting device (300) includes a support arm (31), a second mounting base (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 base (20). The two clamping arms (21) are respectively connected to the second mounting base (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) and is used to drive it to rotate. The two saw blades (22) are arranged opposite to each other and are used to cut off the bottom of the lettuce.

7. A high-efficiency automated lettuce harvester according to claim 6, characterized in that, 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). A slider is provided on one side of the floating arm (25). The slider 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 base (20). The support arm (31) is used to float up and down to follow the unevenness of the road surface.

8. A high-efficiency automated lettuce harvester according to claim 7, characterized in that, The cutting device (300) is connected to a transfer mechanism, which includes a third mounting base (26), a transfer motor (27), a transfer belt (28), a transfer drive roller (32), and a transfer driven roller (33). The third mounting base (26) is fixedly connected to the fixed arm (24), the third mounting base (26) is connected to the transfer drive roller, the transfer drive roller is connected to the transfer motor (27), the transfer driven roller is rotatably connected between the two clamping arms (21), and the transfer belt (28) is wound around the transfer drive roller and the transfer driven roller to receive the cut lettuce and transfer it to the transport device (400).

9. A high-efficiency automated lettuce harvester according to claim 1, characterized in that, The transport device (400) is a conveyor belt transport device, which is inclinedly mounted on the vehicle body; The receiving plate (29) is fixedly connected to the vehicle body, and one side of it extends to the lower side of the conveyor belt transport device. The receiving plate (29) is provided with several horizontally arranged clearance slots. Several rows of baffles (30) are provided on the conveyor belt of the conveyor belt transport device along the horizontal direction. Each row of baffles (30) corresponds to one of the clearance slots, so that the baffles (30) can pass through the receiving plate (29) during the movement.

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