Flexible leaf removing device and harvesting and packaging all-in-one machine for asparagus lettuce

Abstract

The invention relates to a flexible leaf removing device and a collecting and packaging all-in-one machine for asparagus lettuce, on one hand, the flexible leaf removing device is provided, in the flexible leaf removing device, a plurality of leaf removing cutters are connected in series through springs, and the flexible leaf removing device can conduct self-adaptive adjustment according to asparagus lettuce of different diameters; the flexible leaf removing device can be adjusted in a self-adaptive mode, leaves on the outer side of the asparagus lettuce can be rapidly stripped, and meanwhile the asparagus lettuce cannot be damaged; the invention further provides a harvesting and packaging all-in-one machine for the asparagus lettuce, the harvesting and packaging all-in-one machine for the asparagus lettuce can complete soil turning work while sequentially achieving the functions of leaf removal, harvesting, bundling and storage of the asparagus lettuce, the automation degree is high, and the problem that a large amount of manpower is needed in the asparagus lettuce harvesting process in a traditional operation mode is solved.

Description

Technical Field

[0001] The invention relates to a flexible leaf removing device and an integrated bagging machine for lettuce. Background Art

[0002] Lettuce, also known as lettuce, is a variety of lettuce in the Asteraceae family that can form fleshy tender stems. It is an annual or biennial herb. In my country, lettuce is grown on a large area with a high annual yield. However, due to the high growth habits and cultivation requirements of lettuce, people generally grow lettuce on a large scale to increase yield. When picking lettuce, a lot of manual labor is required. First, the leaves need to be removed, then they need to be picked, and finally they need to be bundled and loaded. This process is time-consuming and labor-intensive, and is also the main reason for the high labor cost during lettuce harvesting.

[0003] At present, the mechanized harvesting equipment involving lettuce is still in its infancy. In order to solve the automated harvesting process of lettuce, this solution was created. Summary of the invention

[0004] In view of the shortcomings existing in the above problems, the present invention provides a flexible leaf removing device and an all-in-one bagging machine for lettuce.

[0005] On the one hand, the present invention provides a flexible defoliating device, comprising a door-shaped frame, a track arranged in the door-shaped frame, a defoliating knife disc, and a servo track motor, wherein the servo track motor is matched with the track to drive the defoliating knife disc to realize lifting and lowering movement, the defoliating knife disc comprises a defoliating knife frame that performs lifting and lowering movement, and a plurality of defoliating tools that are hinged at the lower part of the defoliating knife frame and are evenly distributed in a circle, wherein the plurality of defoliating tools are formed to be gathered inwardly by springs, the defoliating knife disc also comprises a limit frame, and the limit frame can be slidably adjusted relative to the defoliating knife frame to realize the adjustment of the minimum caliber formed by the plurality of defoliating tools, the defoliating tool comprises a tool body and a defoliating blade fixedly connected to the tool body, the inner side of the tool body is formed with rounded corners, and the defoliating blade is in the shape of a thin sheet.

[0006] On the other hand, the present invention provides an integrated bagging machine for lettuce, comprising a chassis and a flexible leaf removal device, a primary harvesting transmission device, a secondary transmission device, a tertiary bundling transmission device, and an intelligent storage device sequentially arranged on the chassis from front to back;

[0007] The chassis includes a bottom frame, a tire arranged below the bottom frame, and a power DC motor for driving the tire;

[0008] The flexible leaf removal device includes a door-shaped frame fixedly connected to the bottom frame, two guide frames arranged at the front side of the door-shaped frame, a constraint steering gear arranged at the bottom position of the door-shaped frame, a track arranged in the door-shaped frame, and a leaf removal fan arranged at the rear side of the door-shaped frame, the constraint steering gear has a rotatable constraint lever, and the flexible leaf removal device also includes a leaf removal blade disc and a servo track motor, and the servo track motor is matched with the track to drive the leaf removal blade disc to realize lifting movement;

[0009] The defoliating blade disc includes a defoliating blade frame that performs lifting and lowering motion, and a plurality of defoliating knives that are hinged to the lower part of the defoliating blade frame and are evenly distributed in a circle. The plurality of defoliating knives are formed to be gathered inwardly by springs. The defoliating blade disc also includes a limit frame that can be slidably adjusted relative to the defoliating blade frame to achieve adjustment of the minimum caliber formed by the plurality of defoliating knives.

[0010] Furthermore, the chassis also includes a mounting frame, which forms a shock-absorbing structure with the bottom frame through bearings, shock-absorbing springs, bearings, shock-absorbing frames, the power DC motor is arranged on the mounting frame and forms a transmission connection with the tire through a coupling and a reduction gear set, and an electromagnetic valve for brake control is also installed on the mounting frame; the chassis also includes side panels fixedly connected to the bottom frame.

[0011] Furthermore, the limit frame and the defoliating tool frame are slideably adjusted by limit nuts and limit bolts, and the defoliating tool includes a tool body and a defoliating blade fixedly connected to the tool body, the inner side of the tool body is formed with rounded corners, and the defoliating blade is in the shape of a thin sheet.

[0012] Furthermore, the first-level harvesting and transmission device includes a harvesting mechanism and a first-level transmission device. The harvesting mechanism includes a harvesting DC motor installed on a harvesting motor bracket, and a harvesting cutter disc that is transmission-connected to the harvesting DC motor via gears and gears. The first-level transmission device is tilted as a whole, and includes an inclined first-level transmission upper frame and a first-level transmission lower frame. A synchronous belt and a synchronous pulley for transportation are provided between the first-level transmission upper frame and the first-level transmission lower frame. A first-level transmission stepper motor is also provided on the first-level transmission upper frame, and the first-level transmission stepper motor is transmission-connected to the synchronous pulley via gears and gears.

[0013] Furthermore, the secondary transmission device includes a secondary transmission upper frame and a secondary transmission lower frame, a synchronous belt and a synchronous pulley for transportation are provided between the secondary transmission upper frame and the secondary transmission lower frame, and a secondary transmission stepper motor is also arranged on the secondary transmission upper frame, and the secondary transmission stepper motor forms a transmission connection with the synchronous pulley via gears and gears; the secondary transmission upper frame is tilted thirty degrees backward than the primary transmission upper frame, and the two secondary transmission upper frames are opened outward at an angle of sixty degrees.

[0014] Furthermore, the three-stage bundling transmission device includes a three-stage transmission mechanism and a bundling mechanism. The bundling mechanism includes a door-shaped frame, an idler wheel 1 and an idler wheel 2 rotatably arranged on the door-shaped frame, and a rotating frame placed in the door-shaped frame. The rotating frame is provided with a rotatable tape reel, a chain is provided on the outer side of the rotating frame and a transmission connection is formed between the chain and the idler wheel 1 and the idler wheel 2. The door-shaped frame is also provided with a bundling motor bracket, and a bundling stepper motor is installed on the bundling motor bracket, and the output end of the bundling stepper motor is connected to the idler wheel 1.

[0015] Furthermore, the bundling mechanism also includes a fixed bracket one and a fixed bracket two fixedly connected to the door-shaped frame, a movable bracket is arranged between the fixed bracket one and the fixed bracket two, the movable bracket is connected by a screw stepper motor on the fixed bracket one through a screw drive and realizes smooth sliding movement under the guidance of the guide rod, the movable bracket is provided with a synchronously moving limit shaft and a double-axis cylinder, and a cutting blade is provided at the shaft end of the double-axis cylinder.

[0016] Furthermore, the intelligent storage device includes a frame structure formed by a bottom frame, side panels, and a bottom plate, and an electric piston cylinder. The rear side of the bottom plate is hinged to the bottom frame, and a fixed shaft is provided on the front side of the bottom frame. The electric piston cylinder is connected to the fixed shaft via a bearing, and the electric piston rod of the electric piston cylinder is hinged to the bottom plate to realize the lifting function of the bottom plate.

[0017] Furthermore, a soil-turning device is provided at the lower part of the chassis, and the soil-turning device includes a soil-turning DC motor, a soil-turning motor bracket, a coupling, a transmission shaft, a reduction gear box, a support shaft, a bearing, a support shaft, a bearing, a main frame, arm one, arm two, arm three, and a soil-turning shovel.

[0018] Furthermore, the soil-turning motor bracket, the support shaft, the support shaft, and the main frame are all fixedly arranged below the bottom frame, the soil-turning DC motor is installed on the soil-turning motor bracket and realizes power output through the coupling, the transmission shaft, and the reduction box in sequence, and then the soil-turning action of the soil-turning shovel is realized by the arm one, the arm two, and the arm three.

[0019] The beneficial effects of the present invention compared to the prior art are:

[0020] The present invention provides an integrated bagging machine for lettuce, which can realize the functions of leaf removal, harvesting, bundling and storage of lettuce in sequence, and can also complete soil turning work, has a high degree of automation, and solves the problem that the lettuce harvesting process in the traditional operation mode requires a large amount of manpower participation;

[0021] In addition, multiple leaf removing knives are connected in series by springs, and the flexible leaf removing device can be adaptively adjusted according to lettuces of different diameters, that is, the flexible leaf removing device can adaptively adjust and quickly peel off the outer leaves of the lettuce without damaging the lettuce. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A stereoscopic diagram of a bag collecting and packaging machine for lettuce;

[0023] Figure 2 is a schematic diagram of the chassis involved;

[0024] Figure 3 It is a schematic diagram of the connection of the tire on the chassis;

[0025] Figure 4 is a schematic diagram of the flexible defoliation device involved;

[0026] Figure 5 for Figure 4 Schematic diagram of the leaf removal blade disc in;

[0027] Figure 6 It is a schematic diagram of the primary recovery and transmission device and the secondary transmission device involved;

[0028] Figure 7 for Figure 6 Schematic diagram of the top view;

[0029] Figure 8 is a schematic diagram of a three-stage bundle transmission device involved;

[0030] Fig. 9 for Figure 8 A schematic diagram of a bundling mechanism in FIG.

[0031] Fig.10 for Fig. 9 Schematic diagram of the other direction;

[0032] Fig.11 is a schematic diagram of the smart storage device involved;

[0033] Fig.12 is a schematic diagram of the soil turning device involved;

[0034] Fig.13It is a partial enlarged view of the soil turning device involved;

[0035] Fig.14 Schematic diagram of the defoliating tool involved.

[0036] In the figure:

[0037] 1. Flexible defoliation device; 101. Guide frame; 102. Constraint servo; 103. Constraint lever; 104. Track; 105. Defoliation knife disc; 10501. Defoliation knife rack; 10502. Limiting frame; 10503. Limiting nut; 10504. Limiting bolt; 10505. Spring; 10506. Defoliation knife; 105061. Knife body; 105062. Defoliation blade; 106. Servo track motor; 107. Defoliation fan;

[0038] 2. Primary harvesting and transmission device; 201. Harvesting mechanism; 20101. Harvesting cutter disc; 20102. Gear; 20103. Gear; 20105. Harvesting motor bracket; 20106. Harvesting DC motor; 202. Primary transmission device; 20201. Primary transmission stepping motor; 20202. Gear; 20203. Gear; 20204. Primary transmission upper rack; 20205. Synchronous belt; 20206. Primary transmission lower rack; 20207. Synchronous pulley;

[0039] 3. Secondary transmission device; 301. Secondary transmission stepping motor; 302. Gear; 303. Gear; 304. Secondary transmission upper rack; 305. Synchronous belt; 306. Secondary transmission lower rack; 308. Synchronous pulley;

[0040] 4. Three-stage bundling transmission device; 401. Three-stage transmission mechanism; 402. Bundling mechanism; 40201. Idler wheel 1; 40202. Bundling stepper motor; 40203. Bundling motor bracket; 40204. Chain; 40205. Rotating frame; 40206. Idler wheel 2; 40207. Fixed bracket 1; 40208. Screw stepper motor; 40209. Screw; 40210. Guide rod; 40211. Mobile bracket; 40212. Fixed bracket 2; 40213. Cutting blade; 40214. Double-axis cylinder; 40215 Limiting shaft;

[0041] 5. Intelligent storage device; 501. bottom frame; 502. side plate; 503. bottom plate; 504. bearing; 505. fixed shaft; 506. electric piston cylinder; 507. electric piston rod;

[0042] 6. Soil turning device; 601. Soil turning DC motor; 602. Soil turning motor bracket; 603. Coupling; 604. Transmission shaft; 605. Speed ​​reducer; 606. Support shaft; 607. Bearing; 608. Support shaft; 609. Bearing; 610. Main frame; 611. Arm 1; 612. Arm 2; 613. Arm 3; 614. Soil turning shovel;

[0043] 7. chassis; 701. side plate; 702. bearing; 703. shock-absorbing spring; 704. bearing; 705. shock-absorbing frame; 706. mounting frame; 707. solenoid valve; 708. power DC motor; 709. coupling; 710. reduction gear set; 711. tire;

[0044] a. Bottom frame; b. Door frame; c. Door frame. DETAILED DESCRIPTION

[0045] like Figure 1 As shown, an integrated machine for collecting and packing lettuce according to an embodiment of the present invention comprises a chassis 7 and a flexible leaf removal device 1, a primary harvesting transmission device 2, a secondary transmission device 3, a tertiary bundling transmission device 4, and an intelligent storage device 5 which are sequentially arranged on the chassis 7 from front to back;

[0046] like Figure 2 , Figure 3 As shown, the chassis 7 includes a bottom frame a and a tire 711 arranged below the bottom frame a, and a power DC motor 708 for driving the tire 711; the chassis 7 also includes a mounting frame 706, the mounting frame 706 forms a shock absorbing structure with the bottom frame a through a bearing 702, a shock absorbing spring 703, a bearing 704, and a shock absorbing frame 705, the power DC motor 708 is arranged on the mounting frame 706 and is connected to the tire 711 through a coupling 709 and a reduction gear set 710, and a solenoid valve 707 for brake control is also installed on the mounting frame 706; the chassis 7 also includes a side plate 701 fixedly connected to the bottom frame a;

[0047] like Figure 4 As shown, the flexible defoliation device 1 includes a door frame b fixedly connected to the bottom frame a, two guide frames 101 arranged at the front side of the door frame b, a constraint servo 102 arranged at the bottom position of the door frame b, a track 104 arranged in the door frame b, and a defoliation fan 107 arranged at the rear side of the door frame b. The constraint servo 102 has a rotatable constraint lever 103. The flexible defoliation device 1 also includes a defoliation blade disc 105 and a servo track motor 106. The servo track motor 106 is matched with the track 104 to drive the defoliation blade disc 105 to achieve lifting movement.

[0048] like Figure 5As shown, the leaf removal blade disc 105 includes a leaf removal blade rack 10501 that performs lifting and lowering motion, and a plurality of leaf removal knives 10506 that are evenly distributed in a circle and hinged to the lower part of the leaf removal blade rack 10501. The plurality of leaf removal knives 10506 are formed to be gathered inward by springs 10505. The leaf removal blade disc 105 also includes a limit frame 10502, which can be slidably adjusted relative to the leaf removal blade rack 10501 to realize the plurality of leaf removal knives 10506. 0506; the limit frame 10502 and the leaf removal knife frame 10501 are adjusted by the limit nut 10503 and the limit bolt 10504 to achieve sliding adjustment. The leaf removal tool 10506 includes a tool body 105061 and a leaf removal blade 105062 fixedly connected to the tool body 105061. The inner side of the tool body 105061 is formed with a rounded corner, and the leaf removal blade 105062 is in the shape of a thin sheet (see Fig.14 );

[0049] like Figure 6 , Figure 7 As shown, the primary harvesting and transmission device 2 includes a harvesting mechanism 201 and a primary transmission device 202. The harvesting mechanism 201 includes a harvesting DC motor 20106 installed on a harvesting motor bracket 20105, and a harvesting cutter disc 20101 connected to the harvesting DC motor 20106 via gears 20102 and 20103; the primary transmission device 202 is tilted as a whole, and includes an inclined primary transmission upper frame 20204 and a primary transmission lower frame 20206, and a synchronous belt 2205 and a synchronous pulley 2207 for transportation are provided between the primary transmission upper frame 20204 and the primary transmission lower frame 20206. A primary transmission stepping motor 2201 is also provided on the primary transmission upper frame 20204, and the primary transmission stepping motor 20201 is connected to the synchronous pulley 20207 via gears 20202 and 20203.

[0050] like Figure 6 , Figure 7 As shown, the secondary transmission device 3 includes a secondary transmission upper frame 304 and a secondary transmission lower frame 306, a synchronous belt 305 and a synchronous pulley 308 for transportation are arranged between the secondary transmission upper frame 304 and the secondary transmission lower frame 306, and a secondary transmission stepper motor 301 is also arranged on the secondary transmission upper frame 304, and the secondary transmission stepper motor 301 forms a transmission connection with the synchronous pulley 308 through the gear 302 and the gear 303; the secondary transmission upper frame 304 is tilted backward by 30 degrees compared with the primary transmission upper frame 20204, and the two secondary transmission upper frames 304 are arranged to be opened outward at an angle of 60 degrees;

[0051] like Figures 8 to 10As shown, the three-stage bundling transmission device 4 includes a three-stage transmission mechanism 401 and a bundling mechanism 402. The bundling mechanism 402 includes a door-shaped frame c, an idler wheel 1 40201 and an idler wheel 2 40206 rotatably arranged on the door-shaped frame c, and a rotating frame 40205 placed in the door-shaped frame c. A rotatable tape drum is arranged on the rotating frame 40205. A chain 40204 is arranged on the outer side of the rotating frame 40205, and the chain 40204 is connected to the idler wheel 1 40201 and the idler wheel 2 40206 to form a transmission connection. A bundling motor bracket 40203 is also arranged on the door-shaped frame c, and a bundling stepping motor 40202 is installed on the bundling motor bracket 40203. The bundling stepping motor 4020 The output end of 2 is connected with the idler wheel 1 40201; the bundling mechanism 402 also includes a fixed bracket 1 40207 and a fixed bracket 2 40212 fixedly connected to the door frame c, a mobile bracket 40211 is arranged between the fixed bracket 1 40207 and the fixed bracket 2 40212, the mobile bracket 40211 is driven by the screw stepper motor 40208 on the fixed bracket 1 40207 through the screw 40209 and realizes a smooth sliding movement under the guidance of the guide rod 40210, the mobile bracket 40211 is provided with a synchronously moving limit shaft 40215 and a double-axis cylinder 40214, and a cutting blade 40213 is arranged at the shaft end of the double-axis cylinder 40214;

[0052] like Fig.11 As shown, the intelligent storage device 5 includes a frame structure formed by a bottom frame 501, a side plate 502, and a bottom plate 503, and an electric piston cylinder 506. The rear side of the bottom plate 503 is hinged with the bottom frame 501, and a fixed shaft 505 is provided on the front side of the bottom frame 501. The electric piston cylinder 506 is connected to the fixed shaft 505 via a bearing 504. The electric piston rod 507 of the electric piston cylinder 506 is hinged with the bottom plate 503 to realize the lifting function of the bottom plate 503.

[0053] like Fig.12 , 13 As shown, the lower part of the chassis 7 is provided with a soil-turning device 6, which includes a soil-turning DC motor 601, a soil-turning motor bracket 602, a coupling 603, a transmission shaft 604, a reduction box 605, a support shaft 606, a bearing 607, a support shaft 608, a bearing 609, a main frame 610, an arm one 611, an arm two 612, an arm three 613, and a soil-turning shovel 614; the soil-turning motor bracket 602, the support shaft 606, the support shaft 608, and the main frame 610 are all fixedly arranged below the bottom frame a, the soil-turning DC motor 601 is installed on the soil-turning motor bracket 602 and realizes power output in sequence through the coupling 603, the transmission shaft 604, and the reduction box 605, and then the soil-turning action of the soil-turning shovel 614 is realized by the arm one 611, the arm two 612, and the arm three 613.

[0054] The present invention provides an all-in-one machine for collecting and packaging lettuce, which can realize the functions of defoliating, harvesting, bundling and storing lettuce in sequence and can also complete the soil turning work, has a high degree of automation, and solves the problem that the lettuce harvesting process in the traditional operation mode requires a large amount of manpower participation; in addition, a plurality of defoliating knives are connected in series by springs, and the flexible defoliating device can be adaptively adjusted according to lettuces of different diameters, that is, the flexible defoliating device can adaptively adjust and quickly peel off the outer leaves of the lettuce without damaging the lettuce.

[0055] In order to facilitate the understanding of the present invention, the following description is given in conjunction with the accompanying drawings during specific use;

[0056] The overall working process of the integrated bag collecting machine is as follows: first, the lettuce robot moves forward, and the lettuce enters the flexible leaf removal device 1, and the robot stops to complete the lettuce leaf removal; then, the robot continues to move forward, and the harvesting knife disc 20101 at the front end of the first-level harvesting and transmission device 2 cuts the root of the lettuce to complete the lettuce harvesting, and the lettuce enters the first-level transmission device 202 and is transmitted upward at an angle of 60°; the lettuce enters the second-level transmission device 3, and the two side mechanisms of the device are respectively expanded outward by 30° and tilted downward by 30° relative to the first-level transmission device 202, so as to ensure the smooth change of the lettuce posture, and then enter the next device; enter the third-level bundling transmission Device 4, when it is detected that a sufficient amount of lettuce is piled up on the conveyor belt of the three-level transmission mechanism 401, the conveyor belt of the three-level transmission mechanism 401 starts working, the lettuce enters the bundling mechanism 402, and the conveyor belt of the three-level transmission mechanism 401 stops working. After the lettuce is bundled, the conveyor belt of the three-level transmission mechanism 401 starts working again, so that the lettuce enters the next device; enters the intelligent storage device 5, when it is detected that the lettuce fills the frame of the intelligent storage device 5, the lettuce robot ends the harvesting work, returns to the designated position, and unloads; when the lettuce is in the lettuce field and in the forward state, the soil turning device 6 works and turns the soil synchronously.

[0057] Defoliation process: see Figure 4 , Figure 5After the lettuce enters the flexible leaf removal device 1, the guide frame 101 first gradually applies side constraints, and the package collection integrated machine continues to move forward. When the constraint lever 103 on the left senses the contact of the lettuce, the constraint servo 102 on the right works, causing the constraint lever 103 on the right to rotate, and the constraint levers 103 on the left and right sides clamp and apply front and rear constraints to the lettuce. Subsequently, the servo track motor 106 works and moves downward along the track 104 to drive the leaf removal blade 105 to remove the lettuce leaves. After the leaf removal is completed, the servo track motor 106 returns to its original position, and the leaf removal fan 107 works to blow off the lettuce leaves to prevent the leaves from sticking to the leaf removal blade 10506 and the lettuce surface. When it is detected that the servo track motor 106 has returned to its original position, the constraint servos 102 on the left and right sides work, driving the constraint levers 103 on the left and right sides to loosen and rotate to the front and rear positions. After the lettuce enters the next device, the constraint lever 103 on the left returns to the position shown in the figure;

[0058] Among them, in the structure of the leafing blade disc 105, the limit frame 10502 can be slidably adjusted relative to the leafing blade frame 10501 to achieve the adjustment of the minimum caliber formed by multiple leafing tools 10506. Specifically, the limit frame 10502 extends from the bottom and supports the leafing tool 10506, which can prevent the leafing tool 10506 from continuing to shrink inward under the action of the spring 10505, thereby completing the minimum diameter constraint. The minimum constraint diameter size can be adjusted by adjusting the limit nut 10503 and moving the limit frame 10502; when the leafing tool 10506 works on lettuce surfaces of different diameters, the inner rounded corner of the tool body 105061 presses against the lettuce surface to prevent damage to the lettuce, and the leafing blade 105062 cuts the lettuce leaves. The spring 10505 is connected in series with the leafing tool 10506 for flexible adjustment, thereby realizing the constraint of the minimum diameter of lettuce leaf removal and adapting to the leaf removal working conditions of lettuce surfaces with different diameters.

[0059] Harvesting and transport process: see Figure 6 , Figure 7 The first-level harvesting and transmission device 2 and the second-level transmission device 3 realize the harvesting and transmission functions of the lettuce. The advantage is that the second-level transmission device 3 realizes the smooth adjustment of the lettuce posture, providing a good foundation for subsequent work;

[0060] Bundling process: see Figures 8 to 10When it is detected that a sufficient amount of lettuce is accumulated in the three-stage transmission mechanism 401, the three-stage transmission mechanism 401 works to transport the lettuce to the bundling mechanism 402. At this time, the limiting shaft 40215 on the movable bracket 40211 is located on the side closest to the three-stage transmission mechanism 401, and the starting end of the tape installed on the rotating frame 40205 is previously bonded to the limiting shaft 40215, and the tape on the rotating frame 40205 is on the same side of the limiting shaft 40215; then, the bundling stepper motor 40202 works to drive the rotating frame 40205 to rotate 180° clockwise so that the tape installed on the rotating frame 40205 tightly surrounds the lower half of the lettuce, and on the right side of the limiting shaft 40215, a tape cutting mechanism consisting of a double-axis cylinder 40214 and a cutting blade 40213 is installed; the double-axis cylinder 4 0214 pushes the cutting blade 40213 to accurately cut the tape; the moving bracket 40211 drives the limiting shaft 40215 to move backward, and at the same time the bundling stepper motor 40202 works to drive the rotating frame 40205 to continue rotating, ensuring that the bundling is firm and the tape returns to the starting position; after the bundling is completed, the limiting shaft 40215 is pushed forward so that the tape is bonded at the limiting shaft 40215; finally, the moving bracket 40211 drives the limiting shaft 40215 to move forward, and the limiting shaft 40215 returns to the side closest to the three-level transmission mechanism 401, and the dual-axis cylinder 40214 pushes the cutting blade 40213 to accurately cut the tape; in this way, the lettuce is neatly bundled, and then the three-level transmission mechanism 401 is started again to smoothly transmit the bundled lettuce to the next device of the robot.

[0061] Collection process: see Fig.11 The bundled lettuces are collected in a frame structure formed by a bottom frame 501, side plates 502 and a bottom plate 503. When unloading is required, the electric piston rod 507 of the electric piston cylinder 506 is actuated to lift one side of the bottom plate 503. The bundled lettuces slide out along the lifted bottom plate 503 due to their own weight to achieve unloading.

[0062] In addition, the steering of the chassis 7 is achieved by the differential speed of the power DC motor 708. The bag collecting machine also has a soil turning function. Fig.12 , Fig.13 The soil-turning DC motor 601 is installed on the soil-turning motor bracket 602 and realizes power output in sequence through the coupling 603, the transmission shaft 604, and the reduction box 605, and then the soil-turning action of the soil-turning shovel 614 is realized by arm one 611, arm two 612, and arm three 613.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flexible leaf removal device, characterized in that: The invention comprises a door-shaped frame (b), a track (104) arranged in the door-shaped frame (b), a leaf removing blade disc (105), and a servo track motor (106); the servo track motor (106) is connected to the track (104) to drive the leaf removing blade disc (105) to achieve lifting movement; the leaf removing blade disc (105) comprises a leaf removing blade rack (10501) that performs lifting movement, and a plurality of leaf removing blades (10506) that are evenly distributed in a circle and are hinged to the lower part of the leaf removing blade rack (10501); a plurality of leaf removing blades (10506) are connected by springs (10505) between the plurality of leaf removing blades (10506). The defoliating blade disc (105) is formed into an inwardly gathered shape, and further includes a limit frame (10502). The limit frame (10502) can be slidably adjusted relative to the defoliating blade frame (10501) to achieve the adjustment of the minimum caliber formed by the plurality of defoliating tools (10506). The defoliating tool (10506) includes a tool body (105061) and a defoliating blade (105062) fixedly connected to the tool body (105061). The inner side of the tool body (105061) is formed with a rounded corner, and the defoliating blade (105062) is in the shape of a thin sheet.

2. A bag collecting machine for lettuce, characterized in that: It comprises a chassis (7) and, arranged on the chassis (7) in order from front to back, a flexible leaf removal device (1), a primary harvesting and transmission device (2), a secondary transmission device (3), a tertiary bundling and transmission device (4), and an intelligent storage device (5); The chassis (7) comprises a bottom frame (a), a tire (711) arranged below the bottom frame (a), and a power DC motor (708) for driving the tire (711); The flexible defoliation device (1) comprises a door frame (b) fixedly connected to the bottom frame (a), two guide frames (101) arranged at the front side of the door frame (b), a restraining steering gear (102) arranged at the bottom position of the door frame (b), a track (104) arranged in the door frame (b), and a defoliation fan (107) arranged at the rear side of the door frame (b), wherein the restraining steering gear (102) has a rotatable restraining lever (103), and the flexible defoliation device (1) further comprises a defoliation blade disc (105) and a servo track motor (106), wherein the servo track motor (106) is in a mating connection with the track (104) to drive the defoliation blade disc (105) to achieve lifting movement; The defoliating blade disc (105) comprises a defoliating blade rack (10501) that performs lifting and lowering motion, and a plurality of defoliating knives (10506) that are evenly distributed in a circle and hinged to the lower part of the defoliating blade rack (10501). The plurality of defoliating knives (10506) are formed to be gathered inwardly by springs (10505). The defoliating blade disc (105) further comprises a limit frame (10502), and the limit frame (10502) can be slidably adjusted relative to the defoliating blade rack (10501) to achieve adjustment of the minimum caliber formed by the plurality of defoliating knives (10506).

3. The integrated bag collecting machine for lettuce according to claim 2, characterized in that: The chassis (7) further comprises a mounting frame (706), wherein the mounting frame (706) forms a shock absorbing structure with the bottom frame (a) via a bearing (702), a shock absorbing spring (703), a bearing (704), and a shock absorbing frame (705); the power DC motor (708) is arranged on the mounting frame (706) and is in transmission connection with the tire (711) via a coupling (709) and a reduction gear set (710); and a solenoid valve (707) for brake control is also mounted on the mounting frame (706); the chassis (7) further comprises a side plate (701) fixedly connected to the bottom frame (a).

4. The integrated bag collecting machine for lettuce according to claim 2, characterized in that: The limiting frame (10502) and the defoliating knife frame (10501) are slide-adjusted by limiting nuts (10503) and limiting bolts (10504); the defoliating knife (10506) comprises a knife body (105061) and a defoliating blade (105062) fixedly connected to the knife body (105061); a rounded corner is formed on the inner side of the knife body (105061); and the defoliating blade (105062) is in the shape of a thin sheet.

5. The integrated bag collecting machine for lettuce according to claim 2, characterized in that: The primary harvesting and transmission device (2) comprises a harvesting mechanism (201) and a primary transmission device (202). The harvesting mechanism (201) comprises a harvesting DC motor (20106) mounted on a harvesting motor bracket (20105), and a harvesting cutter disc (20101) connected to the harvesting DC motor (20106) via a gear (20102) and a gear (20103). The primary transmission device (202) is arranged in an inclined manner as a whole. The primary transmission device (202) comprises an inclined primary transmission A transmission upper frame (20204) and a first-level transmission lower frame (20206), a synchronous belt (20205) and a synchronous pulley (20207) for transportation are provided between the first-level transmission upper frame (20204) and the first-level transmission lower frame (20206), and a first-level transmission stepper motor (20201) is also provided on the first-level transmission upper frame (20204), and the first-level transmission stepper motor (20201) forms a transmission connection with the synchronous pulley (20207) via a gear (20202) and a gear (20203).

6. The integrated bag collecting machine for lettuce according to claim 5, characterized in that: The secondary transmission device (3) comprises a secondary transmission upper frame (304) and a secondary transmission lower frame (306); a synchronous belt (305) and a synchronous pulley (308) for transportation are arranged between the secondary transmission upper frame (304) and the secondary transmission lower frame (306); a secondary transmission stepper motor (301) is also arranged on the secondary transmission upper frame (304); the secondary transmission stepper motor (301) is connected to the synchronous pulley (308) via a gear (302) and a gear (303); the secondary transmission upper frame (304) is tilted backward by thirty degrees compared with the primary transmission upper frame (20204), and the two secondary transmission upper frames (304) are arranged to be outwardly opened at an angle of sixty degrees.

7. The integrated bag collecting machine for lettuce according to claim 6, characterized in that: The three-stage bundling transmission device (4) comprises a three-stage transmission mechanism (401) and a bundling mechanism (402). The bundling mechanism (402) comprises a door-shaped frame (c), an idler wheel 1 (40201) rotatably arranged on the door-shaped frame (c), an idler wheel 2 (40206), and a rotating frame (40205) disposed in the door-shaped frame (c). The rotating frame (40205) is provided with a rotatable tape drum. The rotating frame (40205) A chain (40204) is provided on the outer side, and the chain (40204) forms a transmission connection with the idler wheel one (40201) and the idler wheel two (40206). A bundling motor bracket (40203) is also provided on the door frame (c). A bundling stepper motor (40202) is installed on the bundling motor bracket (40203), and the output end of the bundling stepper motor (40202) is connected to the idler wheel one (40201).

8. The integrated bag collecting machine for lettuce according to claim 7, characterized in that: The bundling mechanism (402) further comprises a fixed bracket 1 (40207) and a fixed bracket 2 (40212) fixedly connected to the door-shaped frame (c); a movable bracket (40211) is arranged between the fixed bracket 1 (40207) and the fixed bracket 2 (40212); the movable bracket (40211) is driven and connected by a screw stepping motor (40208) on the fixed bracket 1 (40207) via a screw (40209) and realizes a smooth sliding movement under the guidance of a guide rod (40210); a synchronously moving limit shaft (40215) and a double-axis cylinder (40214) are arranged on the movable bracket (40211); and a cutting blade (40213) is arranged at the shaft end of the double-axis cylinder (40214).

9. The integrated bag collecting machine for lettuce according to claim 8, characterized in that: The intelligent storage device (5) comprises a frame structure formed by a bottom frame (501), side panels (502), and a bottom plate (503), and an electric piston cylinder (506); the rear side of the bottom plate (503) is hinged to the bottom frame (501); a fixed shaft (505) is provided on the front side of the bottom frame (501); the electric piston cylinder (506) is connected to the fixed shaft (505) via a bearing (504); and an electric piston rod (507) of the electric piston cylinder (506) is hinged to the bottom plate (503) to realize a lifting function of the bottom plate (503).

10. The integrated bag collecting machine for lettuce according to claim 2, characterized in that: A soil turning device (6) is provided at the lower part of the chassis (7), and the soil turning device (6) comprises a soil turning DC motor (601), a soil turning motor bracket (602), a coupling (603), a transmission shaft (604), a reduction gear box (605), a support shaft (606), a bearing (607), a support shaft (608), a bearing (609), a main frame (610), an arm one (611), an arm two (612), an arm three (613), and a soil turning shovel (614).

11. The integrated bag collecting machine for lettuce according to claim 10, characterized in that: The soil-turning motor bracket (602), the support shaft (606), the support shaft (608), and the main frame (610) are all fixedly arranged below the bottom frame (a); the soil-turning DC motor (601) is installed on the soil-turning motor bracket (602) and realizes power output through the coupling (603), the transmission shaft (604), and the reduction box (605) in sequence, and then the soil-turning action of the soil-turning shovel (614) is realized by the arm one (611), the arm two (612), and the arm three (613).

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