Tobacco harvesting machine and intelligent tobacco storage method

Abstract

The invention relates to the technical field of tobacco harvesting, in particular to a tobacco harvesting machine which achieves tobacco harvesting and intelligent storage, is high in intelligent degree, effectively improves working efficiency and is particularly suitable for harvesting large-area tobacco in hilly areas. By arranging the conveying device, tobacco needing to be stored is conveyed to the tobacco box; by arranging the three-dimensional tobacco box, more storage space can be provided for tobacco, the occupied space is reduced, a better storage environment can be provided for tobacco storage, tobacco accumulation is avoided, the tobacco box storage process and the tobacco box remaining amount can be intelligently controlled, and the tobacco storage efficiency is improved. Meanwhile, the damage to the tobacco is reduced, and the problem that the tobacco quality is damaged due to improper storage is solved; the invention further provides an intelligent tobacco storage method.

Description

Technical Field

[0001] The invention relates to the technical field of tobacco harvesting, and in particular to a tobacco harvester and an intelligent tobacco storage method. Background Art

[0002] As an important economic crop, tobacco harvesting has become a difficult problem. At present, tobacco farmers in most areas still manually collect and transport tobacco leaves during the tobacco harvesting stage, that is, tobacco farmers enter the tobacco field to collect a certain amount of tobacco and then send it to a fixed location, and then repeat the same operation. Manual collection is labor-intensive and has low work efficiency, especially in similar areas such as hilly and mountainous areas. When a large amount of tobacco leaves need to be collected, manual collection can no longer meet normal needs. At present, tobacco harvesters in hilly and mountainous areas generally have the problem of low intelligence and precision, making it difficult to accurately store tobacco leaves; at the same time, traditional harvesters store tobacco in a stacking form, which is easy to cause tobacco damage, and it is easy to have problems with improper storage affecting tobacco quality. Therefore, based on the above problems, the existing technology needs to be further improved. Summary of the invention

[0003] The object of the present invention is to provide a tobacco harvester to solve the prior art problems existing in the above-mentioned background technology.

[0004] In order to solve the above technical problems, the technical solution provided by the present invention is: On the one hand, the present application provides a tobacco harvester, including a driving device, a harvesting chassis, a tobacco box and a conveying device, wherein the driving device is arranged at the bottom end of the harvesting chassis and drives the harvesting chassis to move, the tobacco box is fixedly arranged on the harvesting chassis and is used to store tobacco, the tobacco box includes a tobacco box frame and a tobacco storage tray, and the tobacco storage tray is arranged in multiple groups in the tobacco box frame, and the conveying device is arranged on one side of the tobacco box to convey the harvested tobacco to the tobacco box.

[0005] On the basis of the above technical solution, it also includes a conveying device arranged on one side of the cigarette box, the conveying device includes a conveying frame, a conveying belt and a weight sensor, the conveying belt sleeve is arranged on a conveying roller, the conveying roller is rotatably connected to the conveying frame, supporting rollers are arranged between the conveying rollers, and the weight sensor is arranged at the end of the supporting roller.

[0006] On the basis of the above technical solution, a cigarette tray driving mechanism for driving the cigarette storage tray to slide is also provided in the cigarette box. The cigarette tray driving mechanism includes a driving motor, a gear and a rack. The gear is fixed on the cigarette storage tray and driven to rotate by the driving motor. The rack is fixed on the cigarette box frame, and the gear is meshed with the rack.

[0007] On the basis of the above technical solution, the top end surface of the cigarette storage tray is inclined, and a first baffle is provided on one side of the cigarette storage tray close to the inner side wall of the cigarette box frame.

[0008] Based on the above technical solution, the conveying device includes a conveying cigarette tray, a conveying drive mechanism and a pushing mechanism. The conveying drive mechanism drives the conveying cigarette tray to move in the x and z directions. The pushing mechanism is arranged on the conveying cigarette tray and is used to transfer the tobacco on the conveying cigarette tray.

[0009] On the basis of the above technical solution, the conveying drive mechanism includes a first motor, a first screw, a slider, a second motor and a second screw. The first screw is arranged at the top of the cigarette box and is driven to rotate by the first motor. The slider is mounted on the first screw and slides on the first screw. The second motor is fixed on the slider. The second screw is driven to rotate by the second motor. The cigarette conveying tray is mounted on the second screw and slides on the second screw. The pushing mechanism includes a first electric push rod and a push plate. One end of the first electric push rod is fixed on the cigarette conveying tray, and the other end is fixed with a push plate for pushing tobacco.

[0010] On the basis of the above technical solution, a second baffle is provided at one end of the smoke conveying tray, and an optical sensor is provided on the smoke box frame.

[0011] On the basis of the above technical solution, the driving device includes a driving assembly, a driving gear, a crawler track, a support wheel and a shock absorbing assembly. The driving assembly drives the crawler track to rotate through the driving gear. The driving gear is symmetrically arranged in two groups below the harvesting chassis. A support frame is arranged between the driving gears. The support wheel is arranged below the driving gear and connected through a support rod. The support wheels are arranged in multiple groups and are connected to each other through a connecting frame. One end of the shock absorbing assembly is hinged to the support frame, and the other end is hinged to the connecting frame.

[0012] Based on the above technical solution, the shock absorbing assembly includes a shock absorbing spring and a spring frame. The shock absorbing spring is sleeved on the spring frame. One end of the spring frame is hinged to the supporting frame, and the other end is hinged to the connecting frame.

[0013] On the other hand, the present application also provides a tobacco intelligent storage method, using the above-mentioned tobacco harvester, comprising the following steps: Step 1: Tobacco harvesting and transportation: Tobacco farmers collect tobacco that is mature and meets the harvesting standards and place it on the conveyor; the weight sensor determines the weight of the tobacco, and if it reaches the preset weight, it is transported, otherwise the tobacco continues to be placed; Step 2: Conveying tobacco; conveying the tobacco with a preset weight in step 1 to the conveying tray of the conveying device, and the conveying tray moves in different directions under the drive of the conveying drive mechanism and is conveyed to the position of the storage tray of the cigarette box; Step 3: Transfer of tobacco: When the delivery tray reaches the preset position, the optical sensor detects a signal, the storage tray moves outward, and the first electric push rod on the delivery tray moves to push the tobacco onto the storage tray; Step 4: Both the smoke storage tray and the smoke delivery tray are reset to determine whether the storage capacity of the smoke box is full. If it is full, a signal is sent to the user to stop storage; otherwise, steps one to three are repeated until the storage capacity is used up.

[0014] The beneficial effects of the technical solution provided by the present invention are: The present application provides a tobacco harvester, which realizes tobacco harvesting and intelligent storage, has a high degree of intelligence, effectively improves work efficiency, and is particularly suitable for large-scale tobacco harvesting in hilly areas; by providing a conveying device, tobacco to be stored is conveyed to the tobacco box; by providing a three-dimensional tobacco box, more storage space can be provided for tobacco and the occupied space can be reduced, and a better storage environment can be provided for tobacco storage, avoiding tobacco accumulation and being conducive to intelligent control of the tobacco box storage process and the remaining amount in the tobacco box, while reducing damage to the tobacco and the problem of tobacco quality damage caused by improper storage.

[0015] The present application provides an intelligent tobacco harvesting method, which, compared with the traditional manual stacking collection method, has a high degree of intelligence, a low tobacco leaf damage rate, low manual labor intensity, and better tobacco storage quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the smoke box of the present invention; Figure 3 yes Figure 2 A partial enlarged view of point A in the middle; Figure 4 It is a schematic diagram of the structure of the cigarette storage tray in the present invention; Figure 5 It is a schematic diagram of the structure of the conveying device in the present invention; Figure 6 It is another structural schematic diagram of the conveying device of the present invention except for the conveying belt; Figure 7 It is a structural schematic diagram of the smoke conveying tray in the present invention; Figure 8 It is a schematic diagram of the structure of the driving device in the present invention; Fig. 9It is a structural schematic diagram of the spring frame in the present invention; DETAILED DESCRIPTION The present invention will be further described below in conjunction with the accompanying drawings and embodiments: In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between 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.

[0017] In the description of the present invention, it is necessary to understand that the terms "left", "right", "front", "back", "top", "bottom", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0018] like Figures 1 to 9 As shown, a tobacco harvester includes a driving device 1, a harvesting chassis 2, a tobacco box 3 and a conveying device 4. The driving device 1 is arranged at the bottom of the harvesting chassis 2 and drives the harvesting chassis 2 to move. The tobacco box 3 is fixedly arranged on the harvesting chassis 2 for storing tobacco. The tobacco box 3 includes a tobacco box frame 31 and a tobacco storage tray 32. A plurality of tobacco storage trays 32 are arranged in the tobacco box frame 31. The conveying device 4 is arranged at one side of the tobacco box 3 to convey the harvested tobacco to the tobacco box 3.

[0019] The present application provides a tobacco harvester, which realizes tobacco harvesting and intelligent storage, has a high degree of intelligence, effectively improves work efficiency, and is particularly suitable for large-scale tobacco harvesting in hilly areas; by providing a conveying device 4, tobacco to be stored is conveyed to the tobacco box 3; by providing a three-dimensional cigarette box, more storage space can be provided for tobacco and the occupied space can be reduced, and a better storage environment can be provided for tobacco storage, avoiding tobacco accumulation and being conducive to intelligent control of the storage process and the remaining amount of the cigarette box, while reducing damage to the tobacco and the problem of tobacco quality damage caused by improper storage.

[0020] On the basis of the above technical solution, it also includes a conveying device 5 arranged on one side of the cigarette box 3, the conveying device 5 includes a conveying frame 51, a conveying belt 52 and a weight sensor, the conveying belt 52 is sleeved on a conveying roller 56, the conveying roller 56 is rotatably connected to the conveying frame 51, supporting rollers 57 are arranged between the conveying rollers 56, and the weight sensor is arranged at the end of the supporting roller 57.

[0021] The conveyor belt 52 is rotatably arranged on the conveyor frame 51 for tobacco transportation, and the weight sensor is arranged below the conveyor belt 52. In a more preferred embodiment, the supporting legs of the conveyor frame adopt a telescopic structure, and specifically, the telescopic structure can adopt a spiral telescopic structure, and the height of the conveyor frame can be adjusted.

[0022] In a preferred embodiment, the conveying device 5 further includes a second electric push rod 54 and an extension plate 55 . One end of the second electric push rod 54 is fixedly disposed on the conveying frame 51 , and the other end is connected to the extension plate 55 .

[0023] When working, the extension plate 55 acts as a transfer guide between the smoke delivery tray 41 and the conveyor 5, which can ensure that the tobacco is evenly delivered to the smoke delivery tray 41, thereby realizing even storage of the tobacco on the storage tray 32. Since the supporting legs of the conveyor frame 51 are all spiral telescopic structures, the inclination angle and height of the conveyor 5 can be adjusted. When the tobacco is transferred from the conveyor 5 to the smoke delivery tray 41, the extension plate 55 is extended with the help of the second electric push rod 54 to provide a track for the transported tobacco to directly reach the smoke delivery tray 41, ensuring that the tobacco is completely located on the smoke delivery tray 41, wherein the design length of the smoke delivery tray has exceeded the conventional length of tobacco, and the second electric push rod 54 is used to realize that the tobacco is relatively evenly spread on the smoke delivery tray 41 during the retraction process of the extension plate 55. When the tobacco is completely located on the smoke delivery tray 41, the second electric push rod 54 and the extension plate 55 return to the initial position, and the conveyor device continues to work for the next time.

[0024] In a preferred embodiment, multiple weight sensors are provided to improve measurement stability; specifically, conveying rollers 56 are symmetrically provided at both ends of the conveying frame 51, and supporting rollers 57 are provided between the conveying rollers 56. The weight sensors are provided at both ends of the supporting rollers 57 and multiple weight sensors are provided; the material weight is indirectly measured through the supporting rollers 57 to reduce the tension and vibration interference of the conveying belt 52, and the weight sensor is selected to adopt a strain gauge weighing sensor.

[0025] More preferably, a tobacco baffle 53 is provided on the side of the conveyor belt 52 close to the cigarette box 3, and the tobacco baffle 53 is hinged to the conveyor frame 51. By providing the tobacco baffle 53 at the end of the conveyor belt 52, i.e., close to the cigarette box 3, in cooperation with the conveyor frame 51, the risk of tobacco falling can be reduced, and the ends of the tobacco can be simply arranged, so as to facilitate the subsequent storage and placement of the tobacco in the cigarette box 3.

[0026] More preferably, the conveying device 5 further comprises a primary conveying platform, on which a plurality of rollers are evenly arranged. By providing the primary conveying platform and the rollers thereon, the collected tobacco can be initially stored and conveyed, and cooperate with the subsequent conveying belt 52 to form a two-stage conveying structure, thereby improving work efficiency, and the harvesting and transporting and storage processes can be carried out simultaneously, with higher work efficiency.

[0027] By providing the conveying device 5 and the weight sensor it contains, the quality of the conveyed tobacco can be judged, so that when the tobacco is conveyed to the cigarette box 3, it can be stored more evenly, reducing the damage to the tobacco caused by traditional tobacco stacking, and achieving a better storage effect.

[0028] Specifically, the tobacco harvester collects the tobacco that meets the standards onto the primary conveyor platform, and the tobacco is transmitted by the rotation of the roller. The collected tobacco enters the secondary conveyor belt in turn and is piled up on the conveyor belt. When the weight of the piled tobacco reaches the preset weight, the tobacco baffle 53 on one side of the conveyor belt 52 rises, and the secondary conveyor belt rotates to convey the tobacco thereon to the subsequent conveying device 4, and then to the cigarette box 3 for storage. As the weight of the tobacco on the conveyor belt 52 continues to increase, the speed of the conveyor belt 52 will gradually decrease. When the tobacco on the conveyor belt 52 reaches the preset weight, the conveyor belt 52 will pause, and continue to work after completing the tobacco transportation thereon. The conveyor belt can be driven to rotate by a motor, which is not shown in the figure.

[0029] On the basis of the above technical solution, a cigarette tray driving mechanism for driving the cigarette storage tray 32 to slide is also provided in the cigarette box 3. The cigarette tray driving mechanism includes a driving motor, a gear 33 and a rack 34. The gear 33 is fixedly arranged on the cigarette storage tray 32 and driven to rotate by the driving motor. The rack 34 is fixedly arranged on the cigarette box frame 31, and the gear 33 is meshed with the rack 34.

[0030] By setting up the cigarette tray driving mechanism, the cigarette storage tray 32 can slide with the cigarette box frame 31, and in cooperation with the cigarette delivery tray 41, multiple layers of tobacco can be placed on the cigarette storage tray 32, and the utilization rate of the storage space of the cigarette box 3 is high. Specifically, after the optical sensor on the cigarette box frame 31 detects that the cigarette delivery tray 41 has reached the corresponding position, a signal is sent to the cigarette tray driving mechanism to drive the motor to work and drive the gear 33 to rotate. In the meshing state of the gear 33 and the rack 34, the cigarette storage tray 32 will slide outward relative to the cigarette box frame 31 to receive the tobacco to be stored.

[0031] On the basis of the above technical solution, the top end surface of the cigarette storage tray 32 is inclined, and a first baffle 35 is provided on one side of the cigarette storage tray 32 close to the inner side wall of the cigarette box frame 31 .

[0032] By setting the top surface of the cigarette storage tray 32 as an inclined surface, it is convenient for the tobacco to slide into the interior of the cigarette box 3, and at the same time, a first baffle 35 is provided on the inner edge to facilitate the sliding of the tobacco; more preferably, the first baffle 35 is hinged with the cigarette storage tray 32 to facilitate the loading and unloading of the tobacco from the rear side of the cigarette box 3, that is, when unloading the tobacco leaves, the first baffle 35 can be changed from a vertical state to a horizontal state, which is convenient for loading and unloading the tobacco leaves. More preferably, a handle 36 is also provided on the first baffle 35.

[0033] The intelligent three-dimensional cigarette box adopts a three-dimensional cabinet structure. This structure increases the tobacco storage capacity of the cigarette box 3 while reducing the plane area occupied by the three-dimensional cigarette box. At the same time, the structure of the cigarette box 3 is easy to manufacture, build and replace the damaged structure. The grid layout avoids tobacco accumulation and is conducive to intelligent control of the storage process and the remaining amount of the cigarette box.

[0034] On the basis of the above technical solution, the conveying device 4 includes a conveying tray 41, a conveying driving mechanism 42 and a pushing mechanism 43. The conveying driving mechanism 42 drives the conveying tray 41 to move in the x-direction and the z-direction. The pushing mechanism 43 is arranged on the conveying tray 41 and is used to transfer the tobacco on the conveying tray 41. In a preferred embodiment, the tobacco can be uniformly conveyed to the storage tray 32 by conveying the conveying tray 41 multiple times.

[0035] On the basis of the above technical scheme, the conveying drive mechanism 42 includes a first motor 421, a first screw 422, a slider 423, a second motor 424 and a second screw 425. The first screw 422 is arranged at the top of the cigarette box 3 and is driven to rotate by the first motor 421. The slider 423 is sleeved on the first screw 422 and slides on the first screw 422. The second motor 424 is fixedly arranged on the slider 423. The second screw 425 is driven to rotate by the second motor 424. The cigarette conveying tray 41 is sleeved on the second screw 425 and slides on the second screw 425; the pushing mechanism 43 includes a first electric push rod 431 and a push plate 432. One end of the first electric push rod 431 is fixedly arranged on the cigarette conveying tray 41, and the other end is fixedly arranged with a push plate 432 for pushing tobacco.

[0036] By providing a conveying device 4, the collected tobacco can be transferred to each storage tray in the cigarette box 3, with high work efficiency. The weight of the conveyed tobacco is controlled by the weight sensor in the previous process, so that the weight of each conveyance is basically the same, and the storage of tobacco in the cigarette box is more regular and convenient for storage; at the same time, the tobacco on the conveying tray 41 is transferred to the storage tray 32 through the pushing mechanism 43, which reduces manual operation, improves work efficiency, and ensures the quality of tobacco storage. Specifically, the conveying tray 41 can realize movement in the x direction under the drive of the first motor 421 and the first screw 422, and can realize movement in the z direction under the drive of the second motor 424 and the second screw 425; after moving to the position corresponding to the position of the storage tray 32, the first electric push rod 431 drives the push plate 432 to move, pushes the tobacco into the storage tray 32, and completes one conveying; repeat the action multiple times, and place tobacco on multiple storage trays 32 in the cigarette box 3.

[0037] On the basis of the above technical solution, a second baffle 411 is provided at one end of the smoke conveying tray 41 , and an optical sensor is provided on the cigarette box frame 31 .

[0038] Preferably, the second baffle 411 on the smoke conveying tray 41 can reduce the possibility of tobacco falling on the smoke conveying tray 41, thereby ensuring the tobacco storage efficiency; at the same time, a plurality of storage grids are arranged on the cigarette box rack 31, that is, the smoke storage tray 32 is placed in the storage grid, and an optical sensor is arranged on the top surface of each storage grid. After the optical sensor detects that the smoke conveying tray 41 reaches the specified position, the smoke storage tray 32 is rotated out to carry out the tobacco conveying and transfer.

[0039] In a preferred embodiment, a plurality of bearing parts are evenly arranged on the cigarette storage tray 32, and a spacer 321 is formed between the bearing parts. A plurality of conveying teeth 412 are correspondingly arranged on the cigarette conveying tray 41, and the conveying teeth 412 are adapted to the spacer 321. The above shape design can achieve weight reduction of the overall cigarette box 3 structure, and at the same time, can achieve ventilation and air permeability during tobacco storage, and avoid improper tobacco storage affecting its quality. In addition, the spacer 321 and the conveying teeth 412 are matched to facilitate the removal of tobacco in a reverse order to the tobacco storage step. The cigarette conveying tray 41 moves to the position of the corresponding cigarette storage tray 32 where tobacco needs to be removed. After the cigarette storage tray 32 slides outward, the conveying teeth 412 are arranged corresponding to the spacer 321, and the tobacco is shoveled out for unloading, realizing the automated operation of unloading and improving work efficiency.

[0040] In a more preferred embodiment, the smoke storage tray 32 may be configured in a grid shape or the like.

[0041] On the basis of the above technical solution, the driving device 1 includes a driving assembly, a driving gear 12, a crawler 13, a support wheel 14 and a shock absorbing assembly 15. The driving assembly drives the crawler 13 to rotate through the driving gear 12. The driving gear 12 is symmetrically arranged in two groups below the harvesting chassis 2. A support frame 16 is arranged between the driving gears 12. The support wheel 14 is arranged below the driving gear 12 and is connected by a support rod 17. The support wheel 14 is provided in multiple groups and is connected to each other by a connecting frame 18. One end of the shock absorbing assembly 15 is hinged to the support frame 16, and the other end is hinged to the connecting frame 18.

[0042] Preferably, the harvesting chassis 2 is connected to the support frame 16 via a connecting rod 21 .

[0043] Preferably, the driving assembly is configured as a motor or a combination of a motor and a chain, as long as the drive of the gears and the tracks can be achieved.

[0044] Preferably, each group of support wheels 14 includes two support wheels 14 that are symmetrically arranged, and the corresponding shock absorbing components 15 are also symmetrically arranged.

[0045] Based on the above technical solution, the shock absorbing assembly 15 includes a shock absorbing spring 151 and a spring frame 152 . The shock absorbing spring 151 is sleeved on the spring frame 152 . One end of the spring frame 152 is hinged to the support frame 16 , and the other end is hinged to the connecting frame 18 .

[0046] In a more preferred embodiment, the spring frame 152 is tilted, which can significantly enhance the stability, passability and durability of the tobacco harvester in complex terrain by decomposing multi-directional forces, optimizing dynamic loads and improving space efficiency. At the same time, the spring frame is installed tilted, and the lateral space of the frame can be used in the structural design to avoid vertical stacking and occupying height. A weight reduction design is achieved, that is, by optimizing the spring angle, fewer or shorter springs can be used to achieve the same shock absorption effect.

[0047] Preferably, the spring frame 152 includes a connecting member 1521, a first connecting rod 1522 and a second connecting rod 1523, the connecting member 1521 is hinged to the support frame 16, one end of the first connecting rod 1522 is hinged to the connecting member 1521, and the other end is fixedly connected to the second connecting rod 1523, the damping spring 151 is sleeved on the second connecting rod 1523, and the second connecting rod 1523 is hinged to the connecting frame 18. More preferably, the connecting member 1521 is U-shaped.

[0048] At the same time, the tobacco harvester is also provided with a seat 6 for the harvesters to sit on, to harvest the mature and standard tobacco, and to carry out subsequent transportation and storage.

[0049] By providing a driving device 1 including a shock-absorbing component 15, the normal movement of the tobacco harvester in the field is driven, which is particularly suitable for hilly and mountainous areas. The ground in hilly and mountainous areas is undulating. In this application, the shock-absorbing component 15 is used to reduce the damage to tobacco caused by the bumps generated during the operation of the tobacco harvester, and a relatively smooth harvesting operation can be achieved under different road conditions. During operation, the driving component drives the crawler 13 to rotate through the driving gear 12, and also controls the driving component to output different speeds and steering to complete related movements; the support wheel 14 forms a combined structure with the help of the connecting frame 18, and cooperates with the support frame 16 and the shock-absorbing device thereon to achieve a shock-absorbing effect.

[0050] Under the action of the shock absorbing spring 151, when part of the crawler 13 is in a concave position, the combined support wheel 14 can prevent the support wheel 14 from suddenly falling to a large extent under the joint action of the shock absorbing spring 151 and the support frame 18, which can effectively avoid the bumps caused by the concave terrain. At this time, the shock absorbing spring 151 exerts an upward pulling force along the spring, and the support frame acts as a cantilever beam, providing an upward force in the concave terrain direction to the support wheel with a tendency to sink; When part of the crawler 13 is in a raised position, the combined support wheel 14 is prevented from being lifted up too quickly under the joint action of the shock absorbing spring 151 and the support frame 18, which can effectively avoid the bumps caused by the sudden rise of the terrain. At this time, the shock absorbing spring 151 exerts a downward thrust along the spring, and the support frame acts as a cantilever beam, providing a downward force in the direction of the raised terrain to the support wheel with a tendency to sink, thereby reducing the impact on the harvester caused by the sudden change of terrain.

[0051] In a preferred embodiment, the driving device 1 is mainly responsible for the movement of the tobacco harvester, and uses the 32 single-chip microcomputer STM32F103C8T6 to send motion control commands such as speed control commands, steering control commands, etc. The electronically controlled shock-absorbing crawler feeds back the current speed and posture of the tobacco harvester, and the perception of its own state is more intelligent. At present, the navigation method used by tobacco harvesters is GPS or Beidou satellite navigation. However, the planting of tobacco fields in hilly and mountainous areas is affected by the terrain, and the tobacco plants are loose and not a straight line. Due to the low flexibility of satellite navigation, the present invention adopts a combination of visual navigation and satellite navigation. According to the advantages and disadvantages of visual navigation and satellite navigation, visual navigation and satellite navigation are used in different scenes. For example, the flexibility of using visual navigation in field operations is better, and the accuracy of using satellite navigation when turning and turning in the field is higher. The two cooperate to achieve better positioning and control, and improve automation and precision operation. The implementation of visual navigation is to install an external camera device OpenMv4 H7 R2 Cam camera, realize visual recognition with the help of the OpenMv open source project, and then realize motor control with the help of a single-chip microcomputer, thereby realizing visual navigation.

[0052] This embodiment provides a tobacco intelligent harvesting method, using the above tobacco harvester, including the following steps: Step 1: harvesting and transporting tobacco; tobacco farmers collect tobacco that is mature and meets the harvesting standards and place it on the transport device 5; the weight sensor determines the weight of the tobacco, and if it reaches the preset weight, it is transported, otherwise the tobacco continues to be placed; Step 2: Conveying tobacco; conveying the tobacco with a preset weight in step 1 to the conveying tray 41 of the conveying device 4, and the conveying tray 41 is driven by the conveying drive mechanism 42 to move in different directions and convey the tobacco to the position of the storage tray of the cigarette box 3; Step 3: Transfer of tobacco; when the tobacco delivery tray 41 reaches the preset position, the optical sensor detects a signal, and the tobacco storage tray 32 moves outward, and the first electric push rod 431 on the tobacco delivery tray 41 moves to push the tobacco to the tobacco storage tray 32; Step 4: The smoke storage tray 32 and the smoke delivery tray 41 are reset to determine whether the storage capacity of the smoke box 3 is full. If it is full, a signal is sent to the user to stop storage; otherwise, steps 1 to 3 are repeated until the storage capacity is used up.

[0053] The present application provides a tobacco intelligent harvesting method, which, compared with the traditional manual stacking collection method, has a high degree of intelligence, a low tobacco leaf damage rate, low manual labor intensity, and better tobacco storage quality; When taking the tobacco out of the cigarette box, the method of reversing the steps of putting the tobacco in can be adopted, or the method of manually opening the rear cover plate of the cigarette box can be adopted to take the tobacco out.

[0054] The basic principles and main features of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments. Therefore, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the appended claims rather than the above description. Therefore, it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention.

[0055] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A tobacco harvester, characterized in that: The invention comprises a driving device (1), a harvesting chassis (2), a tobacco box (3) and a conveying device (4); the driving device (1) is arranged at the bottom end of the harvesting chassis (2) and drives the harvesting chassis (2) to move; the tobacco box (3) is fixedly arranged on the harvesting chassis (2) and is used to store tobacco; the tobacco box (3) comprises a tobacco box frame (31) and a tobacco storage tray (32); a plurality of tobacco storage trays (32) are arranged in the tobacco box frame (31); and the conveying device (4) is arranged on one side of the tobacco box (3) and conveys the harvested tobacco to the tobacco box (3).

2. A tobacco harvester according to claim 1, characterized in that: The invention also comprises a conveying device (5) arranged on one side of the cigarette box (3), the conveying device (5) comprising a conveying frame (51), a conveying belt (52) and a weight sensor, the conveying belt (52) being sleeved on a conveying roller (56), the conveying roller (56) being rotatably connected to the conveying frame (51), supporting rollers (57) being arranged between the conveying rollers (56), and the weight sensor being arranged at the end of the supporting roller (57).

3. A tobacco harvester according to claim 1, characterized in that: A cigarette tray driving mechanism for driving the cigarette storage tray (32) to slide is also provided in the cigarette box (3), and the cigarette tray driving mechanism comprises a driving motor, a gear (33) and a rack (34), wherein the gear (33) is fixedly arranged on the cigarette storage tray (32) and driven to rotate by the driving motor, and the rack (34) is fixedly arranged on the cigarette box frame (31), and the gear (33) meshes with the rack (34).

4. A tobacco harvester according to claim 1, characterized in that: The top end surface of the cigarette storage tray (32) is arranged tilted, and a first baffle (35) is arranged on one side of the cigarette storage tray (32) close to the inner side wall of the cigarette box frame (31).

5. A tobacco harvester according to claim 2, characterized in that: The conveying device (4) comprises a tobacco conveying tray (41), a conveying drive mechanism (42) and a pushing mechanism (43); the conveying drive mechanism (42) drives the tobacco conveying tray (41) to move in the x-direction and the z-direction; the pushing mechanism (43) is arranged on the tobacco conveying tray (41) and is used for transferring tobacco on the tobacco conveying tray (41).

6. A tobacco harvester according to claim 5, characterized in that: The conveying drive mechanism (42) comprises a first motor (421), a first lead screw (422), a slider (423), a second motor (424) and a second lead screw (425); the first lead screw (422) is arranged at the top end of the cigarette box (3) and is driven to rotate by the first motor (421); the slider (423) is sleeved on the first lead screw (422) and slides on the first lead screw (422); the second motor (424) is fixedly arranged on the slider (423); the second lead screw (425) is driven to rotate by the second motor (424); the cigarette conveying tray (41) is sleeved on the second lead screw (425) and slides on the second lead screw (425); the pushing mechanism (43) comprises a first electric push rod (431) and a push plate (432); one end of the first electric push rod (431) is fixedly arranged on the cigarette conveying tray (41); and the other end is fixedly arranged with a push plate (432) for pushing tobacco.

7. A tobacco harvester according to claim 5, characterized in that: A second baffle (411) is provided at one end of the smoke conveying tray (41), and an optical sensor is provided on the smoke box frame (31).

8. The tobacco harvester according to claim 1, characterized in that: The driving device (1) comprises a driving assembly, a driving gear (12), a crawler (13), a supporting wheel (14) and a shock absorbing assembly (15); the driving assembly drives the crawler (13) to rotate via the driving gear (12); two groups of the driving gear (12) are symmetrically arranged below the harvesting chassis (2); a supporting frame (16) is arranged between the driving gears (12); the supporting wheel (14) is arranged below the driving gear (12) and connected via a supporting rod (17); a plurality of supporting wheels (14) are arranged and connected to each other via a connecting frame (18); one end of the shock absorbing assembly (15) is hinged to the supporting frame (16) and the other end is hinged to the connecting frame (18).

9. A tobacco harvester according to claim 8, characterized in that: The shock absorbing assembly (15) comprises a shock absorbing spring (151) and a spring frame (152); the shock absorbing spring (151) is sleeved on the spring frame (152); one end of the spring frame (152) is hinged on the support frame (16), and the other end is hinged on the connecting frame (18).

10. An intelligent tobacco harvesting method, using the tobacco harvester according to claim 7, characterized in that: The following steps are involved: Step 1: harvesting and transporting tobacco; tobacco farmers collect tobacco that is mature and meets the harvesting standards and place it on the transport device (5); a weight sensor determines the weight of the tobacco, and if it reaches a preset weight, it is transported; otherwise, the tobacco continues to be placed; Step 2: transporting tobacco; the tobacco with a preset weight in step 1 is transported to a transport tray (41) of a transport device (4); the transport tray (41) is driven by a transport drive mechanism (42) to move in different directions and transport the tobacco to a position of a storage tray in a cigarette box (3); Step 3: Transfer of tobacco; when the tobacco delivery tray (41) reaches a preset position and a signal is detected by the optical sensor, the tobacco storage tray (32) moves outward, and the first electric push rod (431) on the tobacco delivery tray (41) is actuated to push the tobacco onto the tobacco storage tray (32); Step 4: The smoke storage tray (32) and the smoke delivery tray (41) are both reset to determine whether the storage capacity of the smoke box (3) is full. If it is full, a signal is sent to the user to stop storage; otherwise, steps 1 to 3 are repeated until the storage capacity is used up.

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