Flexible defoliating device and a picking and packing all-in-one machine for lettuce

Abstract

The present application relates to a flexible leaf removing device and a harvesting and packaging integrated machine for lettuce, and provides a flexible leaf removing device, wherein a plurality of leaf removing cutters are connected in series by springs, the flexible leaf removing device can be self-adaptively adjusted according to lettuce with different diameters, that is, the flexible leaf removing device can self-adaptively adjust and quickly peel off the outer leaves of the lettuce without damaging the lettuce; the present application also provides a harvesting and packaging integrated machine for lettuce, which can realize the functions of leaf removing, harvesting, bundling and storing of the lettuce in sequence, and can also complete the work of turning over the soil, has high automation degree, and solves the problem that a large amount of manpower is required in the traditional operation mode during the harvesting process of the lettuce.

Description

Technical Field

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

[0002] Lettuce, also known as celtuce, is a biennial or annual herbaceous plant belonging to the genus *Lactuca* of the family Asteraceae. It is a variety that produces fleshy, tender stems. In my country, lettuce is widely cultivated with high annual yields. However, due to its relatively demanding growth habits and cultivation requirements, large-scale cultivation is generally employed to increase yields. Harvesting lettuce requires significant manual labor. The process involves removing the leaves, picking the lettuce, and bundling it for loading. This time-consuming and labor-intensive process is the main reason for the high labor costs associated with lettuce harvesting.

[0003] Currently, mechanized harvesting equipment for lettuce is still in its early stages. This solution was developed to address the issue of automated harvesting of lettuce. Summary of the Invention

[0004] To address the shortcomings mentioned above, this invention provides a flexible leaf-removing device and an integrated bagging machine for lettuce.

[0005] On one hand, the present invention provides a flexible leaf removal device, including a portal frame, a track disposed within the portal frame, a leaf removal cutter disc, and a servo track motor. The servo track motor is connected to the track to drive the leaf removal cutter disc to achieve lifting and lowering movement. The leaf removal cutter disc includes a leaf removal cutter holder that performs lifting and lowering movement, and a plurality of leaf removal cutters evenly distributed in a circle hinged to the lower part of the leaf removal cutter holder. The plurality of leaf removal cutters are formed inwardly by springs. The leaf removal cutter disc also includes a limiting frame, which can slide and adjust relative to the leaf removal cutter holder to adjust the minimum diameter formed by the plurality of leaf removal cutters. The leaf removal cutter includes a cutter body and a leaf removal blade fixedly connected to the cutter body. The inner side of the cutter body has rounded corners, and the leaf removal blade is in the form of a thin sheet.

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

[0007] The chassis includes a bottom frame and tires located below the bottom frame, and a DC motor for driving the tires.

[0008] The flexible de-vanizing device includes a portal frame fixed to the bottom frame, two guide frames disposed on the front side of the portal frame, a constraint servo motor disposed at the bottom of the portal frame, a track disposed within the portal frame, and a de-vanizing fan disposed on the rear side of the portal frame. The constraint servo motor has a rotatable constraint lever. The flexible de-vanizing device also includes a de-vanizing cutter disc and a servo track motor. The servo track motor is connected to the track to drive the de-vanizing cutter disc to achieve lifting and lowering movement.

[0009] The leaf removal cutter disc includes a leaf removal cutter frame that moves up and down, and a plurality of leaf removal cutters that are evenly distributed in a circle and hinged to the lower part of the leaf removal cutter frame. The plurality of leaf removal cutters are formed inwardly by springs. The leaf removal cutter disc also includes a limiting frame that can slide and adjust relative to the leaf removal cutter frame to adjust the minimum diameter formed by the plurality of leaf removal cutters.

[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, and shock-absorbing frames. The power DC motor is mounted on the mounting frame and is connected to the tire through a coupling and a reduction gear set. A solenoid valve for brake control is also installed on the mounting frame. The chassis also includes side plates fixed to the bottom frame.

[0011] Furthermore, the limiting frame and the leaf removal cutter frame are adjusted by limiting nuts and limiting bolts to slide. The leaf removal cutter includes a cutter body and a leaf removal blade fixedly connected to the cutter body. The inner side of the cutter body has rounded corners, and the leaf removal blade is in the shape of a thin sheet.

[0012] Furthermore, the primary harvesting and conveying device comprises two parts: a harvesting mechanism and a primary conveying device. The harvesting mechanism includes a harvesting DC motor mounted on a harvesting motor bracket and a harvesting cutter head that is connected to the harvesting DC motor via gears. The primary conveying device is inclined and includes an inclined primary conveying upper frame and a primary conveying lower frame. A synchronous belt and synchronous pulley are provided between the primary conveying upper frame and the primary conveying lower frame for transportation. A primary conveying stepper motor is also configured on the primary conveying upper frame, and the primary conveying stepper motor is connected to the synchronous pulley via gears.

[0013] Furthermore, the secondary transmission device includes a secondary transmission upper frame and a secondary transmission lower frame. A synchronous belt and synchronous pulley for transportation are provided between the secondary transmission upper frame and the secondary transmission lower frame. A secondary transmission stepper motor is also configured on the secondary transmission upper frame. The secondary transmission stepper motor is connected to the synchronous pulley through gears. The secondary transmission upper frame is tilted backward by 30 degrees compared to the primary transmission upper frame, and the two secondary transmission upper frames are arranged in an outward opening shape with an included angle of 60 degrees.

[0014] Furthermore, the three-stage bundling and conveying device includes two parts: a three-stage conveying mechanism and a bundling mechanism. The bundling mechanism includes a portal frame, two idler wheels rotatably mounted on the portal frame, and a rotating frame placed inside the portal frame. The rotating frame is equipped with a self-rotating tape tube. A chain is provided on the outside of the rotating frame, and the chain forms a transmission connection with the first and second idler wheels. The portal frame is also equipped with a bundling motor bracket, and a bundling stepper motor is mounted on the bundling motor bracket. The output end of the bundling stepper motor is connected to the first idler wheel.

[0015] Furthermore, the binding mechanism also includes a fixed bracket one and a fixed bracket two fixedly connected to the portal frame. A movable bracket is provided between the fixed bracket one and the fixed bracket two. The movable bracket is driven by a lead screw stepper motor on the fixed bracket one and achieves smooth sliding movement under the guidance of a guide rod. The movable bracket is equipped with a synchronously moving limit shaft and a dual-axis cylinder. The shaft end of the dual-axis cylinder is provided with a cutting blade.

[0016] Furthermore, the intelligent storage device includes a frame structure formed by a bottom frame, side plates, 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, the lower part of the chassis is equipped with a soil turning device, which includes a soil turning DC motor, a soil turning motor bracket, a coupling, a transmission shaft, a reduction gearbox, a support shaft, a bearing, a main frame, an arm one, an arm two, an 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 installed below the bottom frame. The soil-turning DC motor is installed on the soil-turning motor bracket and outputs power sequentially through the coupling, the transmission shaft, and the reduction gearbox. Then, the soil-turning action of the soil-turning shovel is realized by the first arm, the second arm, and the third arm.

[0019] The advantages of this invention over the prior art are as follows:

[0020] This invention provides an integrated harvesting and bundling machine for lettuce, which can simultaneously perform the functions of leaf removal, harvesting, bundling, and storage of lettuce, as well as soil turning. It has a high degree of automation and solves the problem that the traditional operation mode of lettuce harvesting requires a lot of manpower.

[0021] In addition, multiple leaf-removing blades are connected in series by springs, and the flexible leaf-removing device can adaptively adjust according to lettuce 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. Attached Figure Description

[0022] Figure 1 This is a perspective view of a bagging and packing machine for lettuce.

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

[0024] Figure 3 This is a schematic diagram showing the connection of the tires on the chassis.

[0025] Figure 4 This is a schematic diagram of the flexible leaf removal device involved.

[0026] Figure 5 for Figure 4 A schematic diagram of the blade removal disc in the middle;

[0027] Figure 6 This is a schematic diagram of the primary harvesting and transmission device and the secondary transmission device involved.

[0028] Figure 7 for Figure 6 A diagram from a top-down perspective;

[0029] Figure 8 This is a schematic diagram of the three-stage bundled transmission device involved.

[0030] Figure 9 for Figure 8 A schematic diagram of the binding mechanism in the diagram;

[0031] Figure 10 for Figure 9 A diagram showing the other direction;

[0032] Figure 11 A schematic diagram of the intelligent storage device involved;

[0033] Figure 12 This is a schematic diagram of the soil-turning device involved.

[0034] Figure 13This is a partial enlarged view of the soil-turning device involved;

[0035] Figure 14 This is a schematic diagram of the leaf removal blade involved.

[0036] In the picture:

[0037] 1. Flexible de-vanizing device; 101. Guide frame; 102. Constraint servo motor; 103. Constraint lever; 104. Track; 105. De-vanizing cutter head; 10501. De-vanizing cutter holder; 10502. Limiting frame; 10503. Limiting nut; 10504. Limiting bolt; 10505. Spring; 10506. De-vanizing cutter; 105061. Cutter body; 105062. De-vanizing blade; 106. Servo track motor; 107. De-vanizing fan;

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

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

[0040] 4. Three-stage bundling and conveying device; 401. Three-stage conveying mechanism; 402. Bundling mechanism; 40201. Idler wheel one; 40202. Bundling stepper motor; 40203. Bundling motor bracket; 40204. Chain; 40205. Rotating frame; 40206. Idler wheel two; 40207. Fixed bracket one; 40208. Lead screw stepper motor; 40209. Lead screw; 40210. Guide rod; 40211. Moving bracket; 40212. Fixed bracket two; 40213. Cutting blade; 40214. Dual-axis cylinder; 40215. Limiting shaft;

[0041] 5. Intelligent storage device; 501. Base frame; 502. Side plate; 503. Base 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. Drive shaft; 605. Gearbox; 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 absorber spring; 704. Bearing; 705. Shock absorber frame; 706. Mounting frame; 707. Solenoid valve; 708. DC motor; 709. Coupling; 710. Reduction gear set; 711. Tire;

[0044] a. Bottom frame; b. Door frame; c. Door frame. Detailed Implementation

[0045] like Figure 1 As shown, an embodiment of the present invention provides a harvesting and bundling machine for lettuce, comprising a chassis 7 and a flexible leaf removal device 1, a primary harvesting and conveying device 2, a secondary conveying device 3, a tertiary bundling and conveying device 4, and an intelligent storage device 5 arranged sequentially from front to back on the chassis 7.

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

[0047] like Figure 4 As shown, the flexible de-vanizing device 1 includes a portal frame b fixed to the bottom frame a, two guide frames 101 set on the front side of the portal frame b, a constraint servo motor 102 set at the bottom of the portal frame b, a track 104 set inside the portal frame b, and a de-vanizing fan 107 set on the rear side of the portal frame b. The constraint servo motor 102 has a rotatable constraint lever 103. The flexible de-vanizing device 1 also includes a de-vanizing cutter disc 105 and a servo track motor 106. The servo track motor 106 and the track 104 form a cooperative connection to drive the de-vanizing cutter disc 105 to achieve lifting and lowering movement.

[0048] like Figure 5As shown, the defoliant disc 105 includes a defoliant holder 10501 that performs lifting and lowering movements, and multiple defoliant cutters 10506 evenly distributed in a circular pattern hinged to the lower part of the defoliant holder 10501. The multiple defoliant cutters 10506 are formed inwardly by springs 10505. The defoliant disc 105 also includes a limiting frame 10502, which can slide and adjust relative to the defoliant holder 10501 to achieve the desired movement of the multiple defoliant cutters 10506. The minimum diameter formed by 0506 is adjusted; the limiting frame 10502 and the leaf removal cutter holder 10501 are adjusted by the limiting nut 10503 and the limiting bolt 10504. The leaf removal cutter 10506 includes a cutter body 105061 and a leaf removal blade 105062 fixedly connected to the cutter body 105061. The inner side of the cutter body 105061 has rounded corners, and the leaf removal blade 105062 is in the form of a thin sheet (see...). Figure 14 );

[0049] like Figure 6 , Figure 7 As shown, the primary harvesting and transmission device 2 includes two parts: a harvesting mechanism 201 and a primary transmission device 202. The harvesting mechanism 201 includes 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 gears 20102 and 20103. The primary transmission device 202 is inclined and includes an inclined primary transmission upper frame 20204 and a primary transmission lower frame 20206. A synchronous belt 20205 and a synchronous pulley 20207 for transportation are provided between the primary transmission upper frame 20204 and the primary transmission lower frame 20206. A primary transmission stepper motor 20201 is also configured on the primary transmission upper frame 20204. The primary transmission stepper 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 provided between the secondary transmission upper frame 304 and the secondary transmission lower frame 306. A secondary transmission stepper motor 301 is also configured on the secondary transmission upper frame 304. The secondary transmission stepper motor 301 is connected to the synchronous pulley 308 through gears 302 and 303. The secondary transmission upper frame 304 is tilted backward by 30 degrees compared to the primary transmission upper frame 20204, and the two secondary transmission upper frames 304 are arranged in an outward opening shape with an included angle of 60 degrees.

[0051] like Figures 8-10As 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 portal frame c, an idler wheel 40201 and an idler wheel 40206 rotatably mounted on the portal frame c, and a rotating frame 40205 placed inside the portal frame c. A self-rotating tape drum is provided on the rotating frame 40205. A chain 40204 is provided on the outside of the rotating frame 40205, and the chain 40204 forms a transmission connection with the idler wheel 40201 and the idler wheel 40206. A bundling motor bracket 40203 is also provided on the portal frame c, and a bundling stepper motor 40202 is mounted on the bundling motor bracket 40203. The output end of 2 is connected to the idler wheel 40201; the binding mechanism 402 also includes a fixed bracket 40207 and a fixed bracket 40212 fixedly connected to the gate frame c. A movable bracket 40211 is provided between the fixed bracket 40207 and the fixed bracket 40212. The movable bracket 40211 is driven by the lead screw stepper motor 40208 on the fixed bracket 40207 via the lead screw 40209 and achieves smooth sliding movement under the guidance of the guide rod 40210. The movable bracket 40211 is equipped with a synchronously moving limit shaft 40215 and a dual-axis cylinder 40214. The shaft end of the dual-axis cylinder 40214 is provided with a cutting blade 40213.

[0052] like Figure 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 to 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 to the bottom plate 503 to realize the lifting function of the bottom plate 503.

[0053] like Figure 12 , 13 As shown, a soil-turning device 6 is provided at the lower part of the chassis 7. The soil-turning device 6 includes a soil-turning DC motor 601, a soil-turning motor bracket 602, a coupling 603, a drive shaft 604, a reduction gearbox 605, a support shaft 606, a bearing 607, a support shaft 608, a bearing 609, a main frame 610, an arm 1 611, an arm 2 612, an arm 3 613, 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 installed below the bottom frame a. The soil-turning DC motor 601 is installed on the soil-turning motor bracket 602 and outputs power sequentially through the coupling 603, the drive shaft 604, and the reduction gearbox 605. Then, the soil-turning action of the soil-turning shovel 614 is realized by the arm 1 611, the arm 2 612, and the arm 3 613.

[0054] This invention provides an integrated harvesting and bundling machine for lettuce, which can simultaneously perform leaf removal, harvesting, bundling, and storage of lettuce, while also turning the soil. It has a high degree of automation and solves the problem that the traditional lettuce harvesting process requires a large amount of manpower. In addition, multiple leaf removal blades are connected in series by springs, and the flexible leaf removal device can adaptively adjust according to lettuce of different diameters. That is, the flexible leaf removal device can adaptively adjust and quickly peel off the outer leaves of the lettuce without damaging it.

[0055] In practical use, the invention will be described in conjunction with the accompanying drawings for ease of understanding;

[0056] The overall working process of the integrated harvesting and bundling machine is as follows: First, the lettuce robot moves forward, and the lettuce enters the flexible defoliation device 1. The robot stops, completing the defoliation of the lettuce. Then, the robot continues to move forward, and the harvesting blade 20101 at the front end of the primary harvesting and conveying device 2 cuts the lettuce root, completing the harvesting. The lettuce enters the primary conveying device 202 and is conveyed upward at a 60° angle. The lettuce enters the secondary conveying device 3, which, relative to the primary conveying device 202, has its two sides expanded outward by 30° and tilted downward by 30° respectively to ensure the stability of the lettuce's posture change. Then it enters the next device; finally, it enters the tertiary bundling and conveying system. Device 4: When a sufficient number of lettuce heads are detected accumulating on the conveyor belt of the three-stage transmission mechanism 401, the conveyor belt of the three-stage transmission mechanism 401 starts working, and the lettuce heads enter the bundling mechanism 402. The conveyor belt of the three-stage transmission mechanism 401 then stops working. After the lettuce heads are bundled, the conveyor belt of the three-stage transmission mechanism 401 starts working again, allowing the lettuce heads to enter the next device; entering the intelligent storage device 5, when the lettuce heads are detected to fill 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 heads are in the lettuce field and are in the forward movement state, the soil turning device 6 works, and the soil is turned synchronously.

[0057] Leaf removal process: see Figure 4 , Figure 5After the lettuce enters the flexible leaf removal device 1, the guide frame 101 gradually applies lateral constraints. The bagging machine continues to move forward. When the left constraint lever 103 senses contact with the lettuce, the right constraint servo motor 102 works, causing the right constraint lever 103 to rotate. The left and right constraint levers 103 clamp the lettuce and apply front and back constraints. Subsequently, the servo track motor 106 works, moving downward along the track 104 to drive the leaf removal blade 105 to remove the lettuce leaves. After leaf removal is completed, the servo track motor 106 returns to its original position. At the same time, the leaf removal fan 107 works to blow off the lettuce leaves, preventing the leaves from sticking to the leaf removal blade 10506 and the lettuce surface. When the servo track motor 106 is detected to have returned to its original position, the left and right constraint servo motors 102 work, causing the left and right constraint levers 103 to loosen and rotate to the front and back positions. After the lettuce enters the next device, the left constraint lever 103 returns to the position shown in the figure.

[0058] In the defoliating blade disc 105 structure, the limiting frame 10502 can slide and adjust relative to the defoliating blade holder 10501 to adjust the minimum diameter formed by multiple defoliating blades 10506. Specifically, the limiting frame 10502 extends downward and abuts against the defoliating blades 10506, preventing the defoliating blades 10506 from continuing to retract inward under the action of the spring 10505, thus completing the minimum diameter constraint. The minimum constraint diameter can be adjusted by adjusting the limiting nut 10503 and moving the limiting frame 10502. When the defoliating blades 10506 work on lettuce surfaces of different diameters, the inner rounded corner of the blade body 105061 abuts against the lettuce surface to prevent damage to the lettuce. The defoliating blades 105062 cut the lettuce leaves, and the spring 10505 connects with the defoliating blades 10506 for flexible adjustment. This enables the constraint of the minimum diameter for defoliating lettuce and adapts to defoliation conditions on lettuce surfaces of different diameters.

[0059] Harvesting and transportation process: see Figure 6 , Figure 7 The primary harvesting and conveying device 2 and the secondary conveying device 3 realize the harvesting and conveying functions of lettuce. The advantage is that the secondary conveying device 3 realizes the stable adjustment of the lettuce posture, which provides a good foundation for subsequent work.

[0060] Bundling process: see Figures 8-10When a sufficient number of lettuce heads are detected accumulating in the three-stage transmission mechanism 401, the three-stage transmission mechanism 401 operates, conveying the lettuce heads into the bundling mechanism 402. At this time, the limiting shaft 40215 on the moving bracket 40211 is located on the side closest to the three-stage transmission mechanism 401. The starting end of the tape installed on the rotating frame 40205 is pre-adheded to the limiting shaft 40215, and the tape on the rotating frame 40205 is on the same side as the limiting shaft 40215. Subsequently, the bundling stepper motor 40202 operates, driving the rotating frame 40205 to rotate 180° clockwise, so that the tape installed on the rotating frame 40205 tightly wraps around the lower half of the lettuce head. On the right side of the limiting shaft 40215, a tape cutting mechanism consisting of a dual-axis cylinder 40214 and a cutting blade 40213 is installed. 0214 pushes the cutting blade 40213 to precisely cut the tape; the moving bracket 40211 drives the limiting shaft 40215 to move backward, while the bundling stepper motor 40202 works to drive the rotating frame 40205 to continue rotating, ensuring a secure bundling, and the tape returns to the starting position; after bundling, the limiting shaft 40215 moves forward, so that the tape adheres 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 third-level transmission mechanism 401, and the dual-axis cylinder 40214 pushes the cutting blade 40213 to precisely cut the tape; in this way, the lettuce is neatly bundled, and then the third-level transmission mechanism 401 is restarted to smoothly transfer the bundled lettuce to the next device of the robot.

[0061] Collection process: see Figure 11 The bundled lettuce is collected in a frame structure formed by the bottom frame 501, side plate 502 and bottom plate 503. When unloading is required, the electric piston rod 507 of the electric piston cylinder 506 moves to lift one side of the bottom plate 503. The bundled lettuce slides out along the lifted bottom plate 503 due to its own weight, thus achieving unloading.

[0062] In addition, the steering of chassis 7 is achieved through the differential of the DC motor 708. This bag-collecting and unloading machine also has a soil-tilling function. Figure 12 , Figure 13 The soil-turning DC motor 601 is mounted on the soil-turning motor bracket 602 and outputs power sequentially through the coupling 603, the drive shaft 604, and the reduction gearbox 605. Then, the soil-turning action of the soil-turning shovel 614 is realized by the first arm 611, the second arm 612, and the third arm 613.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A flexible leaf removal device, characterized in that: The device includes a portal frame (b), a track (104) within the portal frame (b), a defoliating cutter disc (105), and a servo track motor (106). The servo track motor (106) is connected to the track (104) to drive the defoliating cutter disc (105) to achieve lifting and lowering. The defoliating cutter disc (105) includes a defoliating cutter holder (10501) for lifting and lowering, and multiple defoliating cutters (10506) evenly distributed in a circle, hinged to the lower part of the defoliating cutter holder (10501). The multiple defoliating cutters (10506) are formed to converge inward by springs (10505). The defoliating cutter disc (105) also includes a limiting frame (10502). The limiting frame (10502) can slide and adjust relative to the leaf removal knife holder (10501) to adjust the minimum diameter formed by the multiple leaf removal knives (10506). The limiting frame (10502) extends downward and abuts against the leaf removal knife (10506) to prevent the leaf removal knife (10506) from continuing to retract inward under the action of the spring (10505). The leaf removal knife (10506) includes a knife body (105061) and a leaf removal blade (105062) fixedly connected to the knife body (105061). The inner side of the knife body (105061) is rounded, and the leaf removal blade (105062) is in the shape of a thin sheet.

2. A bagging and receiving machine for lettuce, characterized in that: It includes a chassis (7) and a flexible leaf removal device (1), a primary harvesting and conveying device (2), a secondary conveying device (3), a tertiary bundling and conveying device (4), and an intelligent storage device (5) arranged sequentially from front to back on the chassis (7). The chassis (7) includes a bottom frame (a) and a tire (711) disposed below the bottom frame (a), and a DC motor (708) for driving the tire (711). The flexible de-vanizing device (1) includes a portal frame (b) fixedly connected to the bottom frame (a), two guide frames (101) disposed on the front side of the portal frame (b), a constraint servo motor (102) disposed at the bottom of the portal frame (b), a track (104) disposed inside the portal frame (b), and a de-vanizing fan (107) disposed on the rear side of the portal frame (b). The constraint servo motor (102) has a rotatable constraint lever (103). The flexible de-vanizing device (1) also includes a de-vanizing cutter disc (105) and a servo track motor (106). The servo track motor (106) is connected to the track (104) to drive the de-vanizing cutter disc (105) to achieve lifting and lowering movement. The leaf removal cutter disc (105) includes a leaf removal cutter holder (10501) that performs lifting and lowering movements, and a plurality of leaf removal cutters (10506) that are evenly distributed in a circle and hinged to the lower part of the leaf removal cutter holder (10501). The plurality of leaf removal cutters (10506) are formed inwardly by springs (10505). The leaf removal cutter disc (105) also includes a limiting frame (10502). The limiting frame (10502) can slide and adjust relative to the leaf removal cutter holder (10501) to adjust the minimum diameter formed by the plurality of leaf removal cutters (10506). The limiting frame (10502) extends out from below and presses against the leaf removal cutters (10506) to prevent the leaf removal cutters (10506) from continuing to retract inward under the action of springs (10505).

3. The integrated bagging and receiving machine for lettuce according to claim 2, characterized in that: The chassis (7) also includes a mounting frame (706), which forms a shock-absorbing structure with the bottom frame (a) through bearings (702), shock-absorbing springs (703), bearings (704), and shock-absorbing frame (705). The power DC motor (708) is mounted on the mounting frame (706) and forms a transmission connection with the tire (711) through a coupling (709) and a reduction gear set (710). A solenoid valve (707) for brake control is also installed on the mounting frame (706). The chassis (7) also includes a side plate (701) fixed to the bottom frame (a).

4. The integrated bagging and receiving machine for lettuce according to claim 2, characterized in that: The limiting frame (10502) and the leaf removal cutter frame (10501) are adjusted by a limiting nut (10503) and a limiting bolt (10504). The leaf removal cutter (10506) includes a cutter body (105061) and a leaf removal blade (105062) fixedly connected to the cutter body (105061). The inner side of the cutter body (105061) has rounded corners, and the leaf removal blade (105062) is in the shape of a thin sheet.

5. A bagging and receiving machine for lettuce according to claim 2, characterized in that: The primary harvesting and conveying device (2) comprises two parts: a harvesting mechanism (201) and a primary conveying device (202). The harvesting mechanism (201) includes 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 gears (20102) and gears (20103). The primary conveying device (202) is inclined as a whole and includes an inclined primary conveyor. The upper conveyor frame (20204) and the lower conveyor frame (20206) are connected by a synchronous belt (20205) and a synchronous pulley (20207) for transportation. The upper conveyor frame (20204) is also equipped with a primary transmission stepper motor (20201). The primary transmission stepper motor (20201) is connected to the synchronous pulley (20207) via gears (20202) and gears (20203).

6. A bagging and receiving machine for lettuce according to claim 5, characterized in that: 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 provided between the secondary transmission upper frame (304) and the secondary transmission lower frame (306). A secondary transmission stepper motor (301) is also configured on the secondary transmission upper frame (304). The secondary transmission stepper motor (301) is connected to the synchronous pulley (308) via gears (302) and gears (303). The secondary transmission upper frame (304) is tilted backward by 30 degrees compared to the primary transmission upper frame (20204), and the two secondary transmission upper frames (304) are arranged in an outward opening shape with an included angle of 60 degrees.

7. A bagging and receiving machine for lettuce according to claim 6, characterized in that: The three-stage bundling and conveying device (4) includes two parts: a three-stage conveying mechanism (401) and a bundling mechanism (402). The bundling mechanism (402) includes a portal frame (c), an idler wheel 1 (40201) and an idler wheel 2 (40206) rotatably mounted on the portal frame (c), and a rotating frame (40205) placed inside the portal frame (c). The rotating frame (40205) is equipped with a self-rotating tape tube. A chain (40204) is provided on the outside of the frame, 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 provided on the gate frame (c). A bundling stepper motor (40202) is installed on the bundling motor bracket (40203). The output end of the bundling stepper motor (40202) is connected to the idler wheel 1 (40201).

8. A bagging and receiving machine for lettuce according to claim 7, characterized in that: The binding mechanism (402) further includes a fixed bracket one (40207) and a fixed bracket two (40212) fixedly connected to the portal frame (c). A movable bracket (40211) is provided between the fixed bracket one (40207) and the fixed bracket two (40212). The movable bracket (40211) is driven by a lead screw stepper motor (40208) on the fixed bracket one (40207) via a lead screw (40209) and achieves smooth sliding movement under the guidance of the guide rod (40210). The movable bracket (40211) is equipped with a synchronously moving limit shaft (40215) and a dual-axis cylinder (40214). The shaft end of the dual-axis cylinder (40214) is provided with a cutting blade (40213).

9. A bagging and receiving machine for lettuce according to claim 8, characterized in that: The intelligent storage device (5) includes a frame structure formed by a bottom frame (501), a side plate (502), 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). The front side of the bottom frame (501) is provided with a fixed shaft (505). 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 to the bottom plate (503) to realize the lifting function of the bottom plate (503).

10. A bagging and harvesting machine for lettuce according to claim 2, characterized in that: The chassis (7) is provided with a soil turning device (6) at the bottom. The soil turning device (6) includes a soil turning DC motor (601), a soil turning motor bracket (602), a coupling (603), a transmission shaft (604), a gearbox (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. A bagging and harvesting 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 installed below the bottom frame (a). The soil turning DC motor (601) is installed on the soil turning motor bracket (602) and outputs power sequentially through the coupling (603), the transmission shaft (604), and the reduction gearbox (605). Then, the soil turning action of the soil turning shovel (614) is realized by the first arm (611), the second arm (612), and the third arm (613).

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