Tobacco harvesting machine and tobacco intelligent storage method

Abstract

The present application relates to the technical field of tobacco harvesting, in particular to a tobacco harvesting machine, which realizes the harvesting and intelligent storage of tobacco, has high intelligent degree, effectively improves work efficiency, and is especially suitable for the harvesting of large-area tobacco in hilly areas; the conveying device is arranged to convey the tobacco box to store the tobacco; the three-dimensional tobacco box is arranged, which can provide more storage space for the tobacco, reduce the occupied space, provide a better storage environment for the storage of the tobacco, avoid the accumulation of the tobacco, be conducive to the intelligent control of the storage process and the remaining amount of the tobacco box, and reduce the damage to the tobacco and the problem of damaged quality of the tobacco caused by improper storage; and a tobacco intelligent storage method is also provided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tobacco harvesting, in particular to a tobacco harvesting machine and a tobacco intelligent storage method. BACKGROUND

[0002] Tobacco is an important economic crop, making tobacco harvesting a difficult problem. At present, most tobacco farmers in most areas still collect and transport tobacco leaves manually during the tobacco harvesting stage, that is, the tobacco farmers enter the tobacco field to collect a certain amount of tobacco and then deliver it to a fixed location, and then repeat the same operation. Manual collection has high labor intensity and low work efficiency, especially in hilly and mountainous areas and similar regions. In the case of needing to collect a large amount of tobacco, manual collection cannot meet the normal demand. At present, the tobacco harvesting machines in hilly and mountainous areas generally have low intelligence and precision, and it is difficult to accurately store tobacco leaves. At the same time, the traditional harvesting machines store tobacco in a stacked form, which can easily damage the tobacco and cause improper storage to affect the quality of the tobacco. Therefore, based on the above problems, the prior art needs to be further improved. SUMMARY

[0003] The purpose of the present application is to provide a tobacco harvesting machine to solve the problems in the background art.

[0004] To solve the above technical problems, the technical scheme provided by the present application is as follows:

[0005] On the one hand, the present application provides a tobacco harvesting machine, which comprises a driving device, a harvesting chassis, a tobacco box and a conveying device. 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 for storing tobacco. The tobacco box comprises a tobacco box frame and a plurality of storage tobacco trays arranged in the tobacco box frame. The conveying device is arranged on one side of the tobacco box and conveys the harvested tobacco to the tobacco box.

[0006] On the basis of the above technical scheme, a conveying device is further arranged on one side of the tobacco box. The conveying device comprises a conveying frame, a conveying belt and a weight sensor. The conveying belt is sleeved 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.

[0007] On the basis of the above technical scheme, a tobacco tray driving mechanism for driving the storage tobacco tray to slide is further arranged in the tobacco box. The tobacco tray driving mechanism comprises a driving motor, a gear and a rack. The gear is fixedly arranged on the storage tobacco tray and is driven to rotate by the driving motor. The rack is fixedly arranged on the tobacco box frame, and the gear is engaged with the rack.

[0008] On the basis of the above technical scheme, the top end surface of the storage tobacco tray is arranged obliquely, and the side of the storage tobacco tray close to the inner side wall of the tobacco box frame is provided with a first baffle.

[0009] On the basis of the above technical scheme, the conveying device comprises a conveying tobacco tray, a conveying driving mechanism and a pushing mechanism. The conveying driving mechanism drives the conveying tobacco tray to move in the x direction and the z direction. The pushing mechanism is arranged on the conveying tobacco tray and is used for transferring the tobacco on the conveying tobacco tray.

[0010] On the basis of the above technical scheme, the conveying driving mechanism comprises a first motor, a first screw rod, a sliding block, a second motor and a second screw rod. The first screw rod is arranged at the top end of the tobacco box and is driven to rotate by the first motor. The sliding block is sleeved on the first screw rod and slides on the first screw rod. The second motor is fixedly arranged on the sliding block. The second screw rod is driven to rotate by the second motor. The conveying tobacco tray is sleeved on the second screw rod and slides on the second screw rod. The pushing mechanism comprises a first electric push rod and a push plate. One end of the first electric push rod is fixedly arranged on the conveying tobacco tray, and the other end is fixedly provided with the push plate, which is used for pushing the tobacco.

[0011] On the basis of the above technical scheme, one end of the conveying tobacco tray is provided with a second baffle, and an optical sensor is arranged on the tobacco box frame.

[0012] On the basis of the above technical scheme, the driving device comprises a driving assembly, a driving gear, a track, a supporting wheel and a damping assembly. The driving assembly drives the track to rotate through the driving gear. Two groups of driving gears are symmetrically arranged below the harvesting chassis. A supporting frame is arranged between the driving gears. The supporting wheel is arranged below the driving gear and is connected through a supporting rod. The supporting wheel is provided with multiple groups and is connected with each other through a connecting frame. One end of the damping assembly is hinged with the supporting frame, and the other end is hinged with the connecting frame.

[0013] On the basis of the above technical scheme, the damping assembly comprises a damping spring and a spring frame. The damping spring is sleeved on the spring frame. One end of the spring frame is hinged on the supporting frame, and the other end is hinged on the connecting frame.

[0014] On the basis of the above technical scheme, the driving device comprises a driving assembly, a driving gear, a track, a supporting wheel and a damping assembly. The driving assembly drives the track to rotate through the driving gear. Two groups of driving gears are symmetrically arranged below the harvesting chassis. A supporting frame is arranged between the driving gears. The supporting wheel is arranged below the driving gear and is connected through a supporting rod. The supporting wheel is provided with multiple groups and is connected with each other through a connecting frame. One end of the damping assembly is hinged with the supporting frame, and the other end is hinged with the connecting frame.

[0015] Step one: tobacco harvesting and conveying; tobacco farmers collect and place the mature and standard tobacco on the conveying device; the weight sensor judges the weight of the tobacco, and if the weight reaches the preset weight, the tobacco is conveyed, otherwise the tobacco is placed again.

[0016] Step two: tobacco conveying; conveying the tobacco with the preset weight in step one to the conveying tray of the conveying device, the conveying tray moving in different directions under the driving of the conveying driving mechanism, and conveying to the position of the storage tray of the tobacco box;

[0017] Step three: tobacco transfer; after the conveying tray reaches the preset position and the signal is detected by the optical sensor, the storage tray moves outward, and the first electric push rod on the conveying tray acts to push the tobacco onto the storage tray;

[0018] Step four: the storage tray and the conveying tray are reset, whether the storage capacity of the tobacco box is full is judged, if the storage capacity 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.

[0019] The technical scheme provided by the present application has the beneficial effects that:

[0020] The tobacco harvesting machine provided by the present application realizes the harvesting and intelligent storage of tobacco, has high intelligent degree, effectively improves work efficiency, is especially suitable for the harvesting of large-area tobacco in hilly areas, and sets the conveying device to convey the tobacco to be stored to the tobacco box, sets the three-dimensional tobacco box to provide more storage space for the tobacco, reduce the occupied space, provide a better storage environment for the storage of the tobacco, avoid the accumulation of the tobacco, and facilitate the intelligent control of the storage process and the remaining amount of the tobacco box, and reduce the damage to the tobacco and the problem of damaged quality of the tobacco due to improper storage.

[0021] The tobacco intelligent harvesting method provided by the present application has high intelligent degree, low tobacco damage rate, low labor intensity, and better tobacco storage quality compared with the traditional manual collection method. DETAILED DESCRIPTION

[0022] Figure 1 is a schematic diagram of the three-dimensional structure of the present application;

[0023] Figure 2 is a schematic diagram of the structure of the tobacco box in the present application;

[0024] Figure 3 is Figure 2 is a local enlarged view of A in

[0025] Figure 4 is a schematic diagram of the structure of the storage tray in the present application;

[0026] Figure 5 is a schematic diagram of the structure of the conveying device in the present application;

[0027] Figure 6 is another schematic diagram of the structure of the conveying device in the present application after the conveying belt;

[0028] Figure 7 is a schematic view of the structure of the conveying tobacco tray in the present application;

[0029] Figure 8 is a schematic view of the structure of the driving device in the present application;

[0030] Figure 9 is a schematic view of the structure of the spring frame in the present application; DETAILED DESCRIPTION

[0031] The present application will be further described below in conjunction with the drawings and embodiments:

[0032] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or can be integrated; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] In the description of the present application, it should be understood that the terms "left", "right", "front", "back", "top", "bottom", etc. indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0034] As shown in Figures 1 to 9 A tobacco harvesting machine, comprising 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 for storing tobacco, the tobacco box 3 comprises a tobacco box frame 31 and a storage tobacco tray 32, a plurality of groups of storage tobacco 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 for the tobacco box 3.

[0035] The present application provides a tobacco harvesting machine, which realizes the harvesting and intelligent storage of tobacco, has high intelligent degree, effectively improves the work efficiency, and is especially suitable for the harvesting work of large-area tobacco in hilly areas; the conveying device 4 is arranged to convey the tobacco to be stored for the tobacco box 3; the three-dimensional tobacco box is arranged, which can provide more storage space for the tobacco, reduce the occupied space, provide a more optimal storage environment for the storage of the tobacco, avoid the accumulation of the tobacco, and be conducive to the intelligent control of the storage process and the remaining amount of the tobacco box, while reducing the damage to the tobacco and the problem of damaged quality of the tobacco due to improper storage.

[0036] On the basis of the above technical solutions, the conveying device 5 is arranged on one side of the tobacco box 3, the conveying device 5 comprises a conveying frame 51, a conveying belt 52 and a weight sensor, the conveying belt 52 is sleeved on conveying rollers 56, the conveying rollers 56 are rotationally 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 rollers 57.

[0037] The conveying belt 52 is rotationally arranged on the conveying frame 51 and is used for conveying tobacco, and the weight sensor is arranged below the conveying belt 52. In a more preferred embodiment, the supporting legs of the conveying frame adopt a telescopic structure, and in particular, the telescopic structure can adopt a screw telescopic structure, so that the height of the conveying frame can be adjusted.

[0038] In a preferred embodiment, the conveying device 5 further comprises a second electric push rod 54 and an extension plate 55, one end of the second electric push rod 54 is fixedly arranged on the conveying frame 51, and the other end is connected with the extension plate 55.

[0039] In operation, the extension plate 55 plays a role of a transmission guide rail between the conveying device 5 and the conveying tobacco tray 41, so that the tobacco can be uniformly conveyed to the conveying tobacco tray 41, thereby achieving uniform storage of the tobacco on the storage tobacco tray 32. Since the supporting legs of the conveying frame 51 all adopt a screw telescopic structure, the inclination angle and the height of the conveying device 5 can be adjusted. When the tobacco is transferred from the conveying device 5 to the conveying tobacco tray 41, the second electric push rod 54 is used to extend the extension plate 55, so as to provide a track for the transported tobacco to reach the conveying tobacco tray 41, thereby ensuring that the tobacco is completely located on the conveying tobacco tray 41. The conveying tobacco tray is designed to have a length that exceeds the conventional length of the tobacco. The second electric push rod 54 is used to realize the process of retracting the extension plate 55, so that the tobacco can be relatively uniformly laid on the conveying tobacco tray 41. When the tobacco is completely located on the conveying tobacco tray 41, the second electric push rod 54 and the extension plate 55 return to the initial position, and the next operation of the conveying device is continued.

[0040] In a preferred embodiment, multiple weight sensors are arranged to improve the measurement stability. In particular, the conveying frame 51 is symmetrically provided with conveying rollers 56 at both ends, supporting rollers 57 are arranged between the conveying rollers 56, and the weight sensors are arranged at both ends of the supporting rollers 57 and are multiple. The weight of the material is indirectly measured through the supporting rollers 57, so as to reduce the tension and vibration interference of the conveying belt 52, and the weight sensor is selected to be a strain gauge type weighing sensor.

[0041] More preferably, the conveying belt 52 is provided with a tobacco baffle 53 on the side close to the tobacco box 3, and the tobacco baffle 53 is hinged to the conveying frame 51. By providing the tobacco baffle 53 on the end of the conveying belt 52, i.e. on the side close to the tobacco box 3, and cooperating with the conveying frame 51, the risk of tobacco falling can be reduced, and the end of the tobacco can be simply arranged, facilitating subsequent storage and placement of the tobacco in the tobacco box 3.

[0042] More preferably, the conveying device 5 further comprises a primary conveying table, and a plurality of groups of rollers are uniformly arranged on the primary conveying table. By providing the primary conveying table and the rollers thereon, the collected tobacco can be preliminarily stored and conveyed, and the primary conveying table cooperates with the subsequent conveying belt 52 to form a two-stage conveying structure, thereby improving work efficiency, and the harvesting and transfer storage processes can be performed synchronously, and the work efficiency is higher.

[0043] By providing the conveying device 5 and the weight sensor contained therein, the mass of the conveyed tobacco can be determined, so that the tobacco can be more uniformly stored when conveyed into the tobacco box 3, the damage to the tobacco caused by traditional tobacco stacking can be reduced, and the storage effect is better.

[0044] Specifically, the tobacco harvester collects the tobacco meeting the standard onto the primary conveying table, and the tobacco is conveyed by the rotation of the rollers. The collected tobacco enters the secondary conveying belt in sequence and is stacked on the conveying belt. When the weight of the stacked tobacco reaches the preset weight, the tobacco baffle 53 on one side of the conveying belt 52 is raised, the secondary conveying belt is rotated, the tobacco thereon is conveyed to the subsequent conveying device 4, and is conveyed into the tobacco box 3 for storage. As the weight of the tobacco on the conveying belt 52 increases, the rotation speed of the conveying belt 52 gradually decreases. When the weight of the tobacco on the conveying belt 52 reaches the preset weight, the conveying belt 52 is paused, and then continues to work after completing the conveying of the tobacco thereon. The conveying belt can be driven to rotate by a motor, which is not shown in the figure.

[0045] On the basis of the above technical solutions, the tobacco box 3 is further provided with a tobacco tray driving mechanism for driving the storage tobacco tray 32 to slide, the tobacco tray driving mechanism comprises a driving motor, a gear 33 and a rack 34, the gear 33 is fixedly arranged on the storage tobacco tray 32 and is driven to rotate by the driving motor, the rack 34 is fixedly arranged on the tobacco box frame 31, and the gear 33 is engaged with the rack 34.

[0046] By setting the tobacco tray driving mechanism, the storage tobacco tray 32 and the tobacco box frame 31 can slide, and cooperating with the conveying tobacco tray 41, the action of placing multiple layers of tobacco on the storage tobacco tray 32 can be realized, and the utilization rate of the storage space of the tobacco box 3 is high. Specifically, after the optical sensor on the tobacco box frame 31 detects that the conveying tobacco tray 41 reaches the corresponding position, a signal is sent to the tobacco tray driving mechanism, the driving motor is driven to work, and the gear 33 is driven to rotate. Under the meshing state of the gear 33 and the rack 34, the storage tobacco tray 32 will slide outward relative to the tobacco box frame 31 to receive the tobacco to be stored.

[0047] On the basis of the above technical scheme, the top end surface of the storage tobacco tray 32 is inclined, and the side of the storage tobacco tray 32 close to the inner side wall of the tobacco box frame 31 is provided with a first baffle 35.

[0048] By setting the top end surface of the storage tobacco tray 32 as an inclined surface, the tobacco is facilitated to slide into the inside of the tobacco box 3, and the first baffle 35 is arranged on the inner side edge, facilitating the tobacco to slide off; more preferably, the first baffle 35 is hinged to the storage tobacco tray 32, facilitating the loading and unloading of tobacco from the rear side of the tobacco box 3, that is, the first baffle 35 can change from a vertical state to a horizontal state when the tobacco leaves are unloaded, facilitating the loading and unloading of tobacco leaves. More preferably, the first baffle 35 is further provided with a handle 36.

[0049] The intelligent three-dimensional tobacco box structure adopts a three-dimensional cabinet structure, which not only increases the tobacco storage capacity of the tobacco box 3, but also reduces the planar area occupied by the three-dimensional tobacco box. The lattice arrangement not only avoids the accumulation of tobacco, but also facilitates the intelligent control of the tobacco storage process and the tobacco box capacity.

[0050] On the basis of the above technical scheme, the conveying device 4 comprises a conveying tobacco tray 41, a conveying driving mechanism 42 and a pushing mechanism 43. The conveying driving mechanism 42 drives the conveying tobacco tray 41 to move in the x direction and the z direction, and the pushing mechanism 43 is arranged on the conveying tobacco tray 41 and used for transferring the tobacco on the conveying tobacco tray 41. In the preferred embodiment, the tobacco can be uniformly conveyed to the storage tobacco tray 32 by multiple conveyance of the conveying tobacco tray 41.

[0051] On the basis of the above technical scheme, the conveying driving mechanism 42 comprises a first motor 421, a first screw rod 422, a sliding block 423, a second motor 424 and a second screw rod 425, the first screw rod 422 is arranged at the top end of the tobacco box 3 and is driven to rotate by the first motor 421, the sliding block 423 is sleeved on the first screw rod 422 and slides on the first screw rod 422, the second motor 424 is fixedly arranged on the sliding block 423, the second screw rod 425 is driven to rotate by the second motor 424, and the conveying tobacco tray 41 is sleeved on the second screw rod 425 and slides on the second screw rod 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 conveying tobacco tray 41, the other end is fixedly provided with the push plate 432, and the first electric push rod 431 is used for pushing tobacco.

[0052] By arranging the conveying device 4, the collected tobacco can be transferred to each storage tobacco tray in the tobacco box 3, the working efficiency is high, the weight of the conveyed tobacco is controlled by the weight sensor in the last process, the weight of each conveying is basically consistent, the storage of the tobacco in the tobacco box is more regular, and storage is facilitated; meanwhile, the tobacco on the conveying tobacco tray 41 is transferred to the storage tobacco tray 32 by the pushing mechanism 43, manual operation is reduced, the working efficiency is improved, and the tobacco storage quality can be ensured. Specifically, the conveying tobacco tray 41 can move in the x direction under the driving of the first motor 421 and the first screw rod 422, and can move in the z direction under the driving of the second motor 424 and the second screw rod 425; after moving to a position corresponding to the position of the storage tobacco tray 32, the first electric push rod 431 drives the push plate 432 to move, pushes the tobacco into the storage tobacco tray 32, and completes one conveying; the tobacco is placed on the plurality of storage tobacco trays 32 in the tobacco box 3 by repeating the action multiple times.

[0053] On the basis of the above technical scheme, one end of the conveying tobacco tray 41 is provided with a second baffle 411, and the tobacco box frame 31 is provided with an optical sensor.

[0054] Preferably, the second baffle 411 on the conveying tobacco tray 41 can reduce the possibility of tobacco falling off the conveying tobacco tray 41, and ensure the tobacco storage efficiency; meanwhile, a plurality of storage cells are arranged on the tobacco box frame 31, that is, the storage tobacco tray 32 is placed in the storage cell, and an optical sensor is arranged on the top end surface of each storage cell, the storage tobacco tray 32 is rotated out after the optical sensor detects that the conveying tobacco tray 41 reaches the specified position, and the conveying and transferring of the tobacco are performed.

[0055] In the preferred embodiment, the storage tobacco tray 32 is uniformly provided with a plurality of bearing portions, and the bearing portions are formed with spacing portions 321, and the conveying tobacco tray 41 is correspondingly provided with a plurality of conveying teeth 412, and the conveying teeth 412 are matched with the spacing portions 321. As designed above, the weight of the overall tobacco box 3 can be reduced, and the ventilation effect can be achieved during the tobacco storage, so as to avoid the influence of improper storage on the quality of the tobacco. In addition, the spacing portions 321 and the conveying teeth 412 are matched, so that the tobacco can be taken out in the reverse order of the tobacco storage step. The conveying tobacco tray 41 moves to the position of the storage tobacco tray 32 where the tobacco needs to be taken out. After the storage tobacco tray 32 slides outwards, the conveying teeth 412 correspond to the spacing portions 321, and the tobacco is scooped out and unloaded, so as to realize the automatic operation of unloading and improve the work efficiency.

[0056] In the more preferred embodiment, the storage tobacco tray 32 can be provided in a grid shape.

[0057] On the basis of the above technical solution, the driving device 1 comprises a driving assembly, driving gears 12, a track 13, supporting wheels 14 and a damping assembly 15. The driving assembly drives the track 13 to rotate through the driving gears 12. The driving gears 12 are symmetrically provided in two groups below the harvesting chassis 2. The driving gears 12 are provided with a supporting frame 16 therebetween. The supporting wheels 14 are provided below the driving gears 12 and are connected through supporting rods 17. The supporting wheels 14 are provided in multiple groups and are connected through connecting frames 18 therebetween. One end of the damping assembly 15 is hinged to the supporting frame 16, and the other end is hinged to the connecting frame 18.

[0058] Preferably, the harvesting chassis 2 is connected with the supporting frame 16 through a connecting rod 21.

[0059] Preferably, the driving assembly is provided in the form of a motor or a combination of a motor and a chain, as long as the driving of the gears and the track can be realized.

[0060] Preferably, each group of supporting wheels 14 comprises two symmetrically arranged supporting wheels 14, and the corresponding damping assemblies 15 are also symmetrically arranged.

[0061] On the basis of the above technical solution, the damping assembly 15 comprises a damping spring 151 and a spring frame 152. The damping spring 151 is sleeved on the spring frame 152. One end of the spring frame 152 is hinged to the supporting frame 16, and the other end is hinged to the connecting frame 18.

[0062] In a more preferred embodiment, the spring frame 152 is arranged obliquely, which can significantly enhance the stability, passability and durability of the tobacco harvester in complex terrain through multi-directional force decomposition, dynamic load optimization and space efficiency improvement. At the same time, the oblique installation of the spring frame can utilize the lateral space of the frame in the structural design, avoiding the occupation of height by vertical stacking. Weight reduction design is achieved, i.e. through optimization of the spring angle, the same damping effect can be achieved with fewer or shorter springs.

[0063] Preferably, the spring frame 152 comprises a connecting piece 1521, a first connecting rod 1522 and a second connecting rod 1523, the connecting piece 1521 is hinged with the support frame 16, one end of the first connecting rod 1522 is hinged with the connecting piece 1521, the other end is fixedly connected with 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 on the connecting frame 18. More preferably, the connecting piece 1521 is arranged in a U shape.

[0064] At the same time, the tobacco harvester is also provided with a seat 6, which facilitates the harvesting personnel to ride and harvest the mature and standard tobacco, and then transport and store.

[0065] By providing the driving device 1 comprising the damping assembly 15, the normal movement of the tobacco harvester in the field is driven, which is especially suitable for hilly and mountainous areas with large ground undulations. In this application, the damping assembly 15 is used to reduce the damage to tobacco caused by the bumping during the working process of the tobacco harvester. In different road conditions, relatively stable harvesting work can be achieved. When working, the driving assembly drives the caterpillar belt 13 to rotate through the driving gear 12, and also controls the driving assembly to output different rotating speeds and steering to complete the related movement; the support wheel 14 forms a combined structure with the connecting frame 18, and cooperates with the damping device on the support frame 16 to achieve the damping effect.

[0066] Under the action of the damping spring 151, when part of the area of the caterpillar belt 13 is in a recessed position, the combined support wheel 14 avoids sudden large degree drop of the support wheel 14 under the joint action of the damping spring 151 and the support frame 18, which can effectively avoid the bumping caused by the ground depression. At this time, the damping spring 151 generates an upward tension along the spring, and the support frame acts as a cantilever beam to provide an upward force in the direction of the ground depression to the support wheel with the tendency of sinking;

[0067] When part of the track 13 is in the raised position, the combined support wheel 14 is prevented from being lifted to a large extent quickly under the joint action of the shock absorbing spring 151 and the support frame 18, which can effectively avoid bumps caused by sudden terrain protrusions. At this time, the shock absorbing spring 151 provides a downward thrust along the spring, and the support frame acts as a cantilever beam, providing a downward force in the direction of the terrain protrusion for the support wheel with a sinking tendency, thereby reducing the impact on the harvester caused by sudden changes in terrain.

[0068] In the preferred embodiment, the driving device 1 is mainly responsible for the movement of the tobacco harvester. The single-chip microcomputer STM32F103C8T6 sends motion control commands such as speed control commands and steering control commands. The electrically controlled shock-absorbing track feeds back the current speed and pose of the tobacco harvester, and more intelligently senses its own state. At present, the navigation method used by the tobacco harvester is GPS or Beidou satellite navigation. However, the tobacco planting in hilly areas is affected by the terrain, and the tobacco plants are loose and not in a straight line. Due to the low flexibility of satellite navigation, the present application combines visual navigation with satellite navigation. According to the advantages and disadvantages of visual navigation and satellite navigation, visual navigation and satellite navigation are used in different scenes. Visual navigation is used when working in the field, which has better flexibility. Satellite navigation is used when turning and reversing in the field, which has higher accuracy. The combination of the two achieves better positioning and control, improves automation and precision operation. The visual navigation is realized by installing the peripheral camera device OpenMv4 H7 R2 Cam camera, using the OpenMv open source project to realize visual recognition, and then using the single-chip microcomputer to realize motor control, thereby realizing visual navigation.

[0069] The present embodiment provides a tobacco intelligent harvesting method using the above tobacco harvester, which includes the following steps:

[0070] Step one: tobacco harvesting and conveying; tobacco farmers collect mature and standard tobacco and place it on the conveying device 5; the weight sensor judges the weight of the tobacco, and if it reaches the preset weight, it is conveyed, otherwise the tobacco is placed;

[0071] Step two: tobacco conveying; the tobacco with the preset weight in step one is conveyed to the conveying tobacco tray 41 of the conveying device 4, which moves in different directions under the drive of the conveying drive mechanism 42, and is conveyed to the position of the storage tobacco tray of the tobacco box 3;

[0072] Step three: tobacco transfer; when the conveying tobacco tray 41 reaches the preset position, the storage tobacco tray 32 moves outward after the optical sensor detects the signal, and the first electric push rod 431 on the conveying tobacco tray 41 acts to push the tobacco onto the storage tobacco tray 32;

[0073] Step four: the storage tobacco tray 32 and the conveying tobacco tray 41 are reset, it is judged whether the storage capacity of the tobacco box 3 is full, if yes, a signal is sent to the user to stop storing; otherwise, steps one to three are repeated until the storage capacity is used up.

[0074] The application provides a tobacco intelligent harvesting method, compared with a traditional artificial stacking collection method, the intelligent degree is high, the tobacco damage rate is low, the artificial labor intensity is low, and the tobacco storage quality is better.

[0075] Meanwhile, when the tobacco is taken out from the tobacco box, a method in reverse order of the tobacco storage step can be used, or a method of manually opening the rear cover plate of the tobacco box to take out the tobacco can also be used.

[0076] The basic principle and main features of the application are shown and described above, and it is obvious for those skilled in the art that the application is not limited to the details of the above exemplary embodiments, therefore the embodiments should be regarded as exemplary and non-limiting, the scope of the application is defined by the appended claims instead of the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the application.

[0077] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be properly combined to form other embodiments which can be understood by those skilled in the art.

Claims

1. A tobacco harvester, characterized in that, The system includes a drive unit (1), a harvesting chassis (2), a tobacco box (3), and a conveying device (4). The drive unit (1) is located at the bottom of the harvesting chassis (2) and drives the harvesting chassis (2) to move. The tobacco box (3) is fixedly installed on the harvesting chassis (2) and is used to store tobacco. The tobacco box (3) includes a tobacco box frame (31) and a tobacco storage tray (32). Multiple sets of tobacco storage trays (32) are arranged inside the tobacco box frame (31). The tobacco box (3) is also equipped with a tobacco tray driving mechanism that drives the tobacco storage trays (32) to slide. The tobacco tray driving mechanism includes a drive motor, a gear (33), and a rack (34). The gear (33) is fixedly mounted on the tobacco storage tray (32) and driven to rotate by the drive motor. The rack (34) is fixedly mounted on the tobacco box frame (31), and the gear (33) meshes with the rack (34). The conveying device (4) is located on one side of the tobacco box (3) to convey the harvested tobacco to the tobacco box (3). The conveying device (4) includes a conveying tobacco tray (41), a conveying drive mechanism (42), and a pushing mechanism (43). The conveying drive mechanism (42) drives the conveying tobacco tray (41) to move in the x and z directions. The pushing mechanism (43) is set on the conveying tobacco tray (41) for transferring tobacco on the conveying tobacco tray (41). A second baffle (411) is set at one end of the conveying tobacco tray (41). An optical sensor is set on the tobacco box frame (31). Multiple bearing parts are evenly arranged on the storage tobacco tray (32), and a gap (321) is formed between the bearing parts. Multiple conveying mechanisms are correspondingly arranged on the conveying tobacco tray (41). The conveying tooth (412) is adapted to the spacer (321); it also includes a conveying device (5) disposed 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 the conveying roller (56). The conveying roller (56) is rotatably connected to the conveying frame (51). A support roller (57) is disposed between the conveying rollers (56). The weight sensor is disposed at the end of the support roller (57).

2. The tobacco harvester according to claim 1, characterized in that, The top surface of the storage pan (32) is inclined, and a first baffle (35) is provided on the side of the storage pan (32) near the inner wall of the cigarette box frame (31).

3. A tobacco harvester according to claim 1, characterized in that, The conveying drive mechanism (42) includes 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 located at the top of the tobacco 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 mounted on the slider (423). The second lead screw (425) is driven to rotate by the second motor (424). The conveying tobacco tray (41) is sleeved on the second lead screw (425) and slides on the second lead 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 mounted on the conveying tobacco tray (41), and the other end is fixedly mounted with a push plate (432) for pushing tobacco.

4. A tobacco harvester according to claim 1, characterized in that, The drive unit (1) includes a drive assembly, a drive gear (12), a track (13), a support wheel (14), and a shock absorber assembly (15). The drive assembly drives the track (13) to rotate through the drive gear (12). Two sets of drive gears (12) are symmetrically arranged below the harvesting chassis (2). A support frame (16) is arranged between the drive gears (12). The support wheel (14) is arranged below the drive gear (12) and connected by a support rod (17). Multiple sets of support wheels (14) are arranged and connected to each other by a connecting frame (18). One end of the shock absorber assembly (15) is hinged to the support frame (16), and the other end is hinged to the connecting frame (18).

5. A tobacco harvester according to claim 4, characterized in that, The shock absorption assembly (15) includes a shock absorption spring (151) and a spring frame (152). The shock absorption 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).

6. A method for intelligent tobacco harvesting, using the tobacco harvester described in claim 3, characterized in that, Includes the following steps: Step 1: Tobacco harvesting and conveying; tobacco farmers collect mature tobacco that meets the harvesting standards and place it on the conveying device (5); the weight sensor judges the weight of the tobacco. If the preset weight is reached, the tobacco is conveyed; otherwise, the tobacco is placed. Step 2: Tobacco conveying; The tobacco with a preset weight from Step 1 is conveyed to the conveying tray (41) of the conveying device (4). The conveying tray (41) moves in different directions under the drive of the conveying drive mechanism (42) and is conveyed to the storage tray of the tobacco box (3). Step 3: Transfer of tobacco; When the tobacco delivery tray (41) reaches the preset position, the optical sensor detects the signal and the storage tray (32) moves outward. The first electric push rod (431) on the tobacco delivery tray (41) is activated to push the tobacco onto the storage tray (32). Step 4: Both the storage tray (32) and the conveying tray (41) are reset. Determine whether the storage capacity of the cigarette box (3) is full. If it is full, send a signal to the user to stop storage; otherwise, repeat steps one to three until the storage capacity is used up.

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