Clamping, cutting and conveying device suitable for heading vegetables and harvester

Abstract

The invention provides a clamping, cutting and conveying device suitable for heading vegetables and a harvester. The clamping, cutting and conveying device comprises a clamping and conveying device body, a driving motor and a cutting device. The clamping and conveying device is used for clamping the heading vegetables and conveying the heading vegetables backwards, the cutting device is arranged below a feeding port in the front of the clamping and conveying device, and the driving motor is connected with the cutting device and used for driving the cutting device to rotationally cut stems of the heading vegetables clamped by the clamping and conveying device. The leaf supporting device is used for supporting the heading vegetables, so that the cutting device can correctly cut stalks of the heading vegetables, and the cutting accuracy of the heading vegetables is improved. According to the invention, based on the profile curve of the cutting tooth leaf of the upper jaw of the oriental migratory locust, the profile curve of the precisely fitted cutting tooth is used for designing the bionic design of the cutting blade, and the cutting precision and the harvesting quality of the heading vegetables are improved by adopting a rotary cutter type cutting mode aiming at the cutting of the thick stalks of the heading vegetables. The disc type cutting blades are adopted, and a constant-speed reverse rotation double-disc-cutter root cutting mode is adopted, so that the harvesting efficiency of the heading vegetables is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural harvesting machinery, and in particular relates to a clamping, cutting and conveying device and a harvester suitable for cabbage. Background Art

[0002] As a fairly common vegetable variety, cabbage has shown a strong momentum of development in the field of agricultural cultivation around the world. In recent years, its planting area has continued to expand, and the total output has also achieved a significant increase, showing a remarkable growth trend around the world. However, the harvesting of cabbage still mainly relies on manual cutting with sickles, which leads to problems such as high cutting resistance, high labor intensity, and low production efficiency, and affects the cutting accuracy of cabbage stems and the quality of cabbage harvesting. With the development of agricultural technology, mechanized harvesting has become an important means to improve production efficiency and reduce labor intensity. Summary of the invention

[0003] In view of the above technical problems, the present invention provides a clamping, cutting and conveying device suitable for cabbage, which improves the cutting accuracy of cabbage stems, improves the harvesting efficiency and quality of cabbage, and reduces manual labor.

[0004] The present invention also provides a harvester comprising the clamping, cutting and conveying device suitable for cabbage.

[0005] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0006] The present invention achieves the above technical objectives through the following technical means.

[0007] A clamping, cutting and conveying device suitable for cabbage, comprising a clamping, conveying device, a driving motor and a cutting device;

[0008] The clamping and conveying device is used to clamp the cabbage and convey it backwards. A cutting device is provided below the front feeding port of the clamping and conveying device. The driving motor is connected to the cutting device and is used to drive the cutting device to rotate and cut the cabbage stems clamped by the clamping and conveying device.

[0009] In the above scheme, the clamping conveying device includes a leaf supporter, at least two conveyor belts and a conveyor belt mounting rod;

[0010] The two conveyor belts are arranged oppositely and respectively installed on conveyor belt mounting rods, the leaf supporter is installed at the front end of the conveyor belt mounting rod, and a conveying channel is arranged between the two conveyor belts; the front end of the conveying channel is a feeding inlet.

[0011] Furthermore, it also includes a vane support welding plate;

[0012] The vane supporter is connected to the front end of the conveyor belt mounting rod through a vane supporter welding plate.

[0013] In the above scheme, the driving motor includes a reduction box, a cover, a motor housing, a rear cover, a cover screw, an output shaft and a room temperature motor;

[0014] The room temperature motor is installed in a motor casing, the front end of the motor casing is provided with a cover connected to the reduction box, the rear end is provided with a rear cover, and the rear cover is connected to the motor casing through a tightening cover screw; the room temperature motor is connected to one end of the reduction box, and the other end of the reduction box is provided with an output shaft, and the output shaft is connected to the cutting device.

[0015] In the above solution, the cutting device includes two cutting units;

[0016] Each cutting unit comprises a cutting knife shaft sleeve, a motor shaft sleeve and a cutting blade;

[0017] A cutter shaft sleeve is arranged above the cutting blade, a motor shaft sleeve is arranged below the cutting blade, a cutter shaft is arranged in the middle of the cutting blade, one end of the cutter shaft is sleeved in the cutter shaft sleeve, and the other end is connected to the output shaft of the driving motor sleeved in the motor shaft sleeve.

[0018] Furthermore, a bolt locking ring is provided above the cutter shaft sleeve, and the bolt locking ring is connected to the cutter shaft sleeve through a hexagonal bolt.

[0019] Furthermore, the cutting blade is a disc cutter; two cutting blades are installed in a stacked manner with an overlapping area, and the two disc cutters rotate at the same speed and in opposite directions.

[0020] Furthermore, the disc knife is provided with a cutting edge.

[0021] Furthermore, the disc blade edge curve is obtained by fitting the incisor leaf structure of the East Asian migratory locust.

[0022] A harvester comprises the clamping, cutting and conveying device suitable for cabbage.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention supports the cabbage by means of a leaf supporter, which is conducive to the cutting device correctly cutting the stems of the cabbage, thereby improving the cutting accuracy of the cabbage.

[0025] 2. The present invention is based on the contour curve of the maxillary incisor leaf of the East Asian migratory locust, and accurately fits the contour curve of the incisor to design the bionic design of the cutting blade. For the cutting of the thick stems of cabbage, a rotary knife cutting method is adopted to improve the cutting accuracy and harvesting quality of cabbage. The present invention intends to use a disc-type cutting blade and a double disc knife-type root cutting method with equal-speed counter-rotation to improve the harvesting efficiency of cabbage.

[0026] 3. The present invention improves the cutting accuracy of cabbage stems and solves the problem of inaccurate cabbage harvesting. The present invention reduces damage during cabbage cutting, improves the efficiency and quality of cabbage harvesting, and provides equipment support for large-scale production of cabbage. The present invention has a simple working principle, can improve cabbage harvesting efficiency, and reduce manual labor.

[0027] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The overall structure of the clamping, cutting and conveying device for cabbage according to one embodiment of the present invention is shown in FIG. Figure 1 .

[0029] Figure 2 The overall structure of the clamping, cutting and conveying device for cabbage according to one embodiment of the present invention is shown in FIG. Figure 2 .

[0030] Figure 3 It is a schematic structural diagram of a clamping and conveying device according to one embodiment of the present invention.

[0031] Figure 4 It is a schematic diagram of the motor structure according to one embodiment of the present invention.

[0032] Figure 5 This is a schematic structural diagram of a cutting device according to one embodiment of the present invention.

[0033] Figure 6 This is a schematic diagram of a double disc cutting structure according to an embodiment of the present invention.

[0034] Figure 7 This is a diagram of the locust mandibular fibers according to one embodiment of the present invention.

[0035] Figure 8 The figure is a flowchart of a specific method for processing locust mandible images according to one embodiment of the present invention.

[0036] Fig. 9 This is a locust incisor leaf contour curve diagram according to one embodiment of the present invention.

[0037] Fig.10 The present invention adopts Fig. 9 Curve 2 shows the three-dimensional model of the bionic disc knife, where Fig.10 (a) is a schematic diagram of the structure of the cutting blade 305, Fig.10 (b) is a schematic diagram of the cutting edge angle of the cutting blade 305, Fig.10 (c) is an enlarged view of the edge curve of the cutting blade 305.

[0038] Fig.11 This is a schematic diagram of the structure of a harvester according to one embodiment of the present invention.

[0039] In the figure, 1-clamping conveying device; 2-driving motor; 3-cutting device; 101-leaf supporter; 103-conveyor belt; 104-leaf supporter welding plate; 105-conveyor belt mounting rod; 201-reduction box; 202-machine cover; 203-motor housing; 204-rear cover; 205-tightening cover screw; 206-output shaft; 207-room temperature motor; 301-bolt locking ring; 302-hexagonal head bolt; 303-cutter shaft sleeve; 304-motor shaft sleeve; 305-cutting blade. DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. 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 a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Example 1

[0043] Figure 1-6 The figure shows a preferred embodiment of the clamping, cutting and conveying device suitable for cabbage, which comprises a clamping, cutting and conveying device 1, a driving motor 2 and a cutting device 3; the clamping, cutting and conveying device 1 is used to clamp the cabbage and convey it backwards, a cutting device 3 is provided below the front feeding inlet of the clamping, cutting and conveying device 1, and the driving motor 2 is connected to the cutting device 3, and is used to drive the cutting device 3 to rotate and cut the cabbage stems clamped by the clamping, cutting and conveying device 1.

[0044] The clamping and conveying device 1 includes a leaf supporter 101, at least two conveyor belts 103 and a conveyor belt mounting rod 105; the two conveyor belts 103 are arranged relatively and respectively mounted on the conveyor belt mounting rod 105, the leaf supporter 101 is mounted on the front end of the conveyor belt mounting rod 105, and a conveying channel is provided between the two conveyor belts 103; the front end of the conveying channel is a feeding inlet. The leaf supporter 1 clamps and fixes the cabbage for conveying, assists in completing the stem cutting operation, is conducive to the cutting device 3 to correctly cut the cabbage stems, and improves the cutting accuracy of the cabbage.

[0045] The conveyor belt 103 can reduce the wear of the cabbage skin, and at the same time avoid the rupture of the cabbage bulbs due to excessive clamping force. The conveyor belt 3 is a corrugated structure, which is conducive to reducing the sliding between the conveyor belt 103 and the cabbage, and will not cause slippage and ineffective cutting due to the force on the cabbage stems during the root cutting process, which can reduce the wear of the broccoli bulb skin. The transportation needs to be coordinated with the walking of the harvester and the stem cutting process. If the transportation speed is too slow, it will cause the cabbage plants to tilt forward before cutting, and the cabbage bulbs after cutting will gather in the conveying device, causing increased load and blockage; if the transportation speed is too fast, it will affect the stability of cutting and transportation and reduce the quality of the operation. Therefore, the conveying line speed of the clamping conveyor belt 103 should be equal to the forward speed of the harvester.

[0046] Preferably, it further comprises a vane supporter welding plate 104; the vane supporter 101 is connected to the front end of the conveyor belt mounting rod 105 via the vane supporter welding plate 104.

[0047] The driving motor 2 includes a reduction box 201, a cover 202, a motor housing 203, a rear cover 204, a cover screw 205, an output shaft 206 and a room temperature motor 207; the room temperature motor 207 is installed in the motor housing 203, the front end of the motor housing 203 is provided with a cover 202 connected to the reduction box 201, and the rear end is provided with a rear cover 204, and the rear cover 204 is connected to the motor housing 203 through the cover screw 205; the room temperature motor 207 is connected to one end of the reduction box 201, and the other end of the reduction box 201 is provided with an output shaft 206, and the output shaft 206 is connected to the cutting device 3.

[0048] The room temperature motor 207 has a lower noise level and better heat dissipation performance, and can provide better conditions for the working environment. The cover 202, the motor housing 203 and the back cover 204 protect the room temperature motor 207 from friction and damage. The cover screws 205 tighten the back cover 204 to prevent it from falling off or loosening. The output shaft 206 is used to transmit the rotational power generated by the motor to the cutting device 3 to ensure the normal operation of the motor and the safe operation of the load. The reduction box 201 converts the high speed and low power of the motor into low speed and high power, thereby meeting the working requirements of these mechanical equipment and reducing the noise of the machine. It also has the function of protecting the motor. When an overload occurs during operation, the reduction box 201 bears a large torque, and only the overload divided by the reduction ratio is transmitted to the room temperature motor 207, thereby effectively preventing the motor from being damaged due to overload.

[0049] The cutting device 3 includes two cutting units; each cutting unit includes a cutting knife shaft sleeve 303, a motor shaft sleeve 304 and a cutting blade 305; a cutting knife shaft sleeve 303 is provided above the cutting blade 305, and a motor shaft sleeve 304 is provided below the cutting blade 305. A cutting knife shaft is provided in the middle of the cutting blade 305, one end of the cutting knife shaft is sleeved in the cutting knife shaft sleeve 303, and the other end is connected to the output shaft 206 of the driving motor 2 sleeved in the motor shaft sleeve 304.

[0050] Preferably, a bolt locking ring 301 is provided above the cutter shaft sleeve 303, and the bolt locking ring 301 is connected to the cutter shaft sleeve 303 through a hexagonal bolt 302. The cutter shaft sleeve 303 and the motor shaft sleeve 304 are mainly used to reduce the wear and abrasion between the shaft and the external components, and the bolt locking ring 301 and the hexagonal bolt 302 play a tightening role. When cutting the cabbage, two cutting blades 305 are used for rotary cutting.

[0051] Preferably, the cutting blade 305 is a disc knife; two cutting blades 305 are installed in an overlapping area, and the two disc knives rotate in opposite directions at the same speed. The cutting device 3 adopts a double disc knife cutting method, which improves the cutting accuracy of the cabbage stems, reduces the damage when cutting the cabbage, and improves the efficiency of cabbage harvesting.

[0052] When working, the motion state of the disc cutter is a compound motion of rotational motion and linear motion. The rotational motion is the rotation of the cutter disc around the rotation axis, and the linear motion is the linear motion of the cutter disc moving forward with the machine.

[0053] Preferably, the disc knife is provided with a cutting edge.

[0054] Preferably, the disc knife edge curve is obtained by fitting the incisor leaf structure of the East Asian migratory locust.

[0055] like Figure 7 The figure shows the fiber diagram of the locust's upper jaw. The front end of the upper jaw is the incisor area, which has sharp teeth for cutting food, and the back is rough grinding teeth for grinding food. The incisor locust's incisor locust structure is mainly composed of three large teeth and two small teeth arranged at intervals. The top of each sharp tooth is a smooth arc, and the top of the middle tooth is higher than the other teeth, and the whole is staggered. In order to extract the incisor lobe outline, the incisor lobe part of the collected East Asian migratory locust's upper jaw micrograph was cut and enlarged, and the incisor lobe detail image was imported into MATLAB software for processing.

[0056] The specific method and process of locust mandible image processing is as follows: Figure 8As shown in the figure, in order to avoid the interference of the noise in the original image on the result, the rgb2gray command is first used to convert the original color image of the locust mandible image into a grayscale image. The redundant structural elements in the original image will also be converted together, and the blurred area will cause calculation errors. In order to make the transition between the pixels of the image more natural, the imerode command is used to erode the grayscale image to obtain an eroded image. Then the imdilate command is used to expand the contour, and the over-eroded area is filled with natural colors to ensure that both sides of the contour curve to be calculated are clear and complete. Then the im2bw command is used to perform binary conversion on the expanded image to unify the image in numerical data, delete unnecessary data information, and only retain pixel position and sampling information. Finally, the edge function is used to detect the boundary and extract the contour line, and the canny operator is used to extract the edge, and the obtained contour coordinate value is saved in a two-dimensional coordinate system format.

[0057] The boundary contour curve of the locust incisor leaf is obtained according to the processing results of MATLAB software, such as Fig. 9 As shown in the figure, the boundary curve of the locust incisor leaf has three obvious peaks. When performing function fitting, if the overall curve fitting is adopted, no matter what kind of fitting equation is used, it is impossible to perfectly restore the entire waveform characteristics. In order to ensure the fitting accuracy, the boundary contour is divided into three independent curves based on a single peak, which are named Curve 1, Curve 2 and Curve 3 respectively.

[0058] In Solid Works software, the equation of curve 2 is used to draw the cutting edge curve of the disc cutter, and the three-dimensional model of the disc cutter is established as shown in the figure. Fig.10 As shown, Fig.10 (a) is a schematic diagram of the structure of the cutting blade 305, Fig.10 (b) is a schematic diagram of the cutting edge angle of the cutting blade 305, Fig.10 (c) is an enlarged view of the edge curve of the cutting blade 305. The diameter of the cutting blade 305 is 220 mm, the thickness is 5 mm, the number of teeth is 80, and the edge angle is 25°. The bionic cutting knife cutting blade 305 manufactured according to the three-dimensional model of the disc knife has the characteristics of a flat cross-section of the stem after cutting, without damage and tearing. The present invention combines the plant cutting mechanism of the locust mouthparts with the operation mode of the cabbage stem cutting mechanism, and designs a double-disc cutting blade 305 based on morphological simulation and combined with motion behavior bionics. The bionic cutting knife cutting blade 305 will not have large speed fluctuations under the action of cutting resistance and impact load, and has the best cutting effect. The present invention applies the unique morphological structure and geometric characteristics of the incisor leaf of the East Asian migratory locust to the design of the cutting knife for the cabbage stem to reduce cutting resistance and improve cutting accuracy and harvest quality.

[0059] During the stem cutting operation, the conveyor belt 103 can reduce the wear of the broccoli ball skin, and at the same time, avoid the broccoli ball from breaking due to excessive clamping force. The transportation needs to be coordinated with the machine walking and stem cutting process. If the transportation speed is too slow, the broccoli plant will tilt forward before cutting, and the cut broccoli balls will gather in the conveying device, causing load increase and blockage; if the transportation speed is too fast, it will affect the stability of cutting and transportation and reduce the quality of operation. Therefore, the conveying line speed of the clamping conveyor belt 103 should be equal to the forward speed of the harvester. The leaf support welding plate 104 is responsible for connecting the leaf support 101 with the conveyor belt 103 to ensure convenient control of the angle of the leaf support 101. The cross bar 105 is responsible for fixing the conveyor belt 103.

[0060] Example 2

[0061] Fig.11 The figure shows a harvester, which includes the clamping, cutting and conveying device suitable for cabbage described in Example 1, and thus has the beneficial effects of Example 1, which will not be described in detail here.

[0062] It should be understood that although this specification is described according to various embodiments, not every embodiment 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 can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art. The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A clamping, cutting and conveying device suitable for cabbage, characterized in that: It comprises a clamping and conveying device (1), a driving motor (2) and a cutting device (3); The clamping and conveying device (1) is used to clamp the cabbage and convey it backwards. A cutting device (3) is provided below the front feeding port of the clamping and conveying device (1). The driving motor (2) is connected to the cutting device (3) and is used to drive the cutting device (3) to rotate and cut the cabbage stems clamped by the clamping and conveying device (1).

2. The clamping, cutting and conveying device for cabbage according to claim 1 is characterized in that: The clamping conveying device (1) comprises a blade supporter (101), at least two conveyor belts (103) and a conveyor belt mounting rod (105); The two conveyor belts (103) are arranged opposite to each other and are respectively mounted on conveyor belt mounting rods (105); the leaf supporter (101) is mounted at the front end of the conveyor belt mounting rod (105); a conveying channel is provided between the two conveyor belts (103); and the front end of the conveying channel is a feeding inlet.

3. The clamping, cutting and conveying device for cabbage according to claim 2, characterized in that: Also includes a vane support welding plate (104); The vane supporter (101) is connected to the front end of the conveyor belt mounting rod (105) via a vane supporter welding plate (104).

4. The clamping, cutting and conveying device for cabbage according to claim 1, characterized in that: The driving motor (2) comprises a reduction box (201), a cover (202), a motor housing (203), a rear cover (204), cover screws (205), an output shaft (206) and a room temperature motor (207); The room temperature motor (207) is installed in a motor housing (203); a cover (202) connected to a reduction box (201) is provided at the front end of the motor housing (203); a rear cover (204) is provided at the rear end; the rear cover (204) is connected to the motor housing (203) via a cover screw (205); the room temperature motor (207) is connected to one end of the reduction box (201); an output shaft (206) is provided at the other end of the reduction box (201); and the output shaft (206) is connected to the cutting device (3).

5. The clamping, cutting and conveying device for cabbage according to claim 1, characterized in that: The cutting device (3) comprises two cutting units; Each cutting unit comprises a cutting blade sleeve (303), a motor sleeve (304) and a cutting blade (305); A cutter shaft sleeve (303) is provided above the cutting blade (305), and a motor shaft sleeve (304) is provided below the cutting blade (305). A cutter shaft is provided in the middle of the cutting blade (305), one end of the cutter shaft is sleeved in the cutter shaft sleeve (303), and the other end is connected to the output shaft of the driving motor (2) sleeved in the motor shaft sleeve (304).

6. The clamping, cutting and conveying device for cabbage according to claim 5, characterized in that: A bolt locking ring (301) is arranged above the cutter shaft sleeve (303), and the bolt locking ring (301) is connected to the cutter shaft sleeve (303) via a hexagonal bolt (302).

7. The clamping, cutting and conveying device for cabbage according to claim 5, characterized in that: The cutting blade (305) is a circular blade; two cutting blades (305) are installed in a stacked manner with an overlapping area, and the two circular blades rotate in opposite directions at the same speed.

8. The clamping, cutting and conveying device for cabbage according to claim 7, characterized in that: The disc knife is provided with a cutting edge.

9. The clamping, cutting and conveying device for cabbage according to claim 8, characterized in that: The disc knife edge curve is obtained by fitting the incisor leaf structure of the East Asian migratory locust.

10. A harvester, characterized in that: The invention comprises the clamping, cutting and conveying device suitable for cabbage as described in any one of claims 1 to 9.

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