Automatic Chinese cabbage harvesting device and vehicle

Abstract

The invention relates to the technical field of agricultural machinery, and provides an automatic Chinese cabbage harvesting device and a vehicle. In the device, a drawing conveying module is installed on an inclination angle adjusting module according to a first adjustable inclination angle and used for cutting off roots of Chinese cabbages to be harvested and guiding the cut Chinese cabbages to move in the conveying direction; the tail part of the pulling and conveying module is connected with the front end of the conveying module and is used for guiding and conveying the Chinese cabbages on the pulling and conveying module into a Chinese cabbage collecting box body mounted on the walking carrier; the inclination angle adjusting module is detachably installed on the walking carrier and used for conducting follow-up adjustment on a first adjustable inclination angle of the drawing and conveying module arranged on the inclination angle adjusting module and a second adjustable inclination angle of the conveying module, so that the inclination angle adjusting module can cut and convey Chinese cabbages at the optimal angle relative to the Chinese cabbage planting ground. The Chinese cabbages are guided into the Chinese cabbage harvesting box through the conveying module, large-scale and standardized harvesting of the Chinese cabbages is achieved, and the harvesting quality of the Chinese cabbages is improved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and in particular to an automated cabbage harvesting device and vehicle. Background Art

[0002] As a major vegetable crop, cabbage has long been harvested by hand. During the manual harvesting process, on the one hand, the harvesting quality is unstable due to the difference in individual quality of the workers, which can easily cause damage to the cabbage. In addition, manual harvesting is inefficient and labor-intensive, making it difficult to achieve large-scale, standardized harvesting. On the other hand, with the acceleration of urbanization, the agricultural labor force is increasingly in short supply, which further leads to a shortage of labor for cabbage harvesting.

[0003] Therefore, there is an urgent need to provide a technical solution to the above-mentioned deficiencies in the prior art. Summary of the invention

[0004] The purpose of the present application is to provide an automated cabbage harvesting device and vehicle to solve or alleviate the problems existing in the above-mentioned prior art.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] The present application provides an automated cabbage harvesting device, which is installed on a walking vehicle and is used for automated cabbage harvesting. The harvesting device comprises: a pulling and conveying module, a transmission module and an inclination adjustment module;

[0007] The guiding and conveying module is installed on the inclination adjustment module at a first adjustable inclination angle, and is used to cut off the roots of the cabbage to be harvested and guide the cut cabbage to move along the conveying direction;

[0008] The front end of the conveying module is connected to the rear end of the drawing and conveying module, and is arranged on the inclination adjustment module at a second adjustable inclination angle, so as to guide and convey the cabbages on the drawing and conveying module to the cabbage collection box installed on the walking vehicle;

[0009] The inclination angle adjustment module can be detachably mounted on the walking vehicle, and is used for performing follow-up adjustment on the first adjustable inclination angle and the second adjustable inclination angle.

[0010] Preferably, the drawing and conveying module comprises:

[0011] The pulling bucket is a U-shaped structure, the rear end of the bottom plate of the U-shaped structure is rotatably connected to the inclination adjustment module, and can be rotated around the first axis under the active action of the inclination adjustment module to adjust the first adjustable inclination relative to the cabbage planting ground; wherein the first axis is the axis of the rotational connection between the pulling bucket and the inclination adjustment module;

[0012] The pulling shovel is installed at the front end of the bottom plate of the C-shaped structure. The outer wall is circumferentially provided with an arc-shaped cutting portion extending from the front end of the bottom plate of the C-shaped structure, so as to rotate and cut the roots of the cabbage to be harvested under the drive of the pulling drive motor.

[0013] Preferably, there are two pulling shovels, and the two pulling shovels are installed in the front end of the bottom plate of the C-shaped structure so as to rotate symmetrically along the width direction of the pulling shovel bucket, and the two pulling shovels are rotated in opposite directions relative to each other through the two pulling drive motors installed on the outer side walls of the C-shaped structure to cut the roots of the cabbage to be harvested; wherein, the pulling shovel is belt-driven with the pulling drive motor on the corresponding side.

[0014] Preferably, the conveying module comprises: a conveying mounting frame, a conveying belt, a conveying driving motor and an adaptive connecting rod.

[0015] The conveying mounting frame is connected to the inclination adjustment module by an adaptive connecting rod and is tilted and rotated according to the second adjustable inclination angle, and the front end is fixedly connected to the tail of the drawing and conveying module; wherein the conveying mounting frame rotates around the second axis and / or the third axis as the first adjustable inclination angle is adjusted, so as to adjust the second adjustable inclination angle relative to the walking vehicle; the second axis is the axis along which one end of the adaptive connecting rod is rotatably connected to the conveying mounting frame, and the third axis is the axis along which the other end of the adaptive connecting rod is rotatably connected to the inclination adjustment module;

[0016] There are two conveyor belts, and the two conveyor belts are symmetrically arranged on the inner sides of the two waists of the inverted trapezoidal structure of the conveyor mounting frame through multiple rollers to form a V-shaped conveyor groove;

[0017] The conveying drive motor is installed on the outer side of the conveying mounting frame away from one end of the drawing and conveying module, and is used to drive the two conveyor belts to rotate synchronously.

[0018] Preferably, the front end of the conveying mounting frame is connected to the drawing and conveying module through a connecting bracket;

[0019] Among them, a clamping plate is provided on the connecting bracket, and the clamping plate is connected to the front end of the conveying mounting frame and is located at the bottom of the V-shaped conveying groove formed by the two conveyor belts to fix the conveying mounting frame and limit the left and right movement trend of the conveying mounting frame.

[0020] Preferably, the transmission drive motor drives one of the conveyor belts to rotate via belt transmission, and the two conveyor belts transmit power via meshing bevel gear sets so that they rotate synchronously under the drive of the transmission drive motor.

[0021] Preferably, the bevel gear set is located at the bottom of the V-shaped conveying groove, and the bevel driving gear in the bevel gear set is installed on one of the rollers corresponding to the conveyor belt directly driven by the conveying drive motor, and the bevel driven gear in the bevel gear set is installed on another roller corresponding to the conveyor belt.

[0022] Preferably, there are two adaptive connecting rods, and the two adaptive connecting rods are symmetrically distributed on the outside of the conveying mounting frame through a connecting piece with an inverted trapezoidal structure, so as to support the conveying mounting frame.

[0023] Preferably, the tilt angle adjustment module comprises: a connecting frame, a connecting rod, a stabilizing frame, and a driving cylinder. The connecting frame can be detachably mounted on the walking vehicle.

[0024] The two ends of the connecting rod are rotatably connected to the connecting frame and the rear end of the drawing and conveying module respectively;

[0025] One end of the stabilizing frame is rotatably connected to the connecting frame, and the other end is connected to the connecting rod through a stabilizing rod; wherein the two ends of the stabilizing rod are rotatably connected to the other end of the stabilizing frame and the middle part of the connecting rod respectively;

[0026] One end of the driving oil cylinder is rotatably connected to the connecting frame, and the other end is rotatably connected to the stabilizing frame; wherein the telescopic movement of the driving oil cylinder drives the stabilizing frame to rotate around the axis rotatably connected to the connecting frame.

[0027] An embodiment of the present application also provides an automated cabbage harvesting vehicle, which is equipped with any of the automated cabbage harvesting devices described above and is used for automated cabbage harvesting.

[0028] Beneficial effects:

[0029] The automated cabbage harvesting device provided in the embodiment of the present application is installed on a traveling vehicle and is used for automated harvesting of cabbage. In the harvesting device, a guiding and conveying module is installed on an inclination adjustment module at a first adjustable inclination angle, and is used to cut off the roots of the cabbage to be harvested and guide the cut cabbage to move along the conveying direction; the tail of the guiding and conveying module is connected to the front end of the conveying module, and is used to guide and convey the cabbage on the guiding and conveying module to a cabbage collection box installed on the traveling vehicle; the inclination adjustment module is detachably installed on the traveling vehicle, and is used to perform follow-up adjustment on the first adjustable inclination angle of the guiding and conveying module and the second adjustable inclination angle of the conveying module arranged thereon. Therefore, the first adjustable inclination angle of the guiding and conveying module and the second adjustable inclination angle of the conveying module are adjusted by the inclination adjustment module, so that the cabbage can be cut and conveyed at the best angle relative to the cabbage planting ground; the root of the cabbage to be harvested is cut by the guiding and conveying module, and the guiding movement is performed along the conveying direction, so that the cut cabbage is guided by the conveying module into the cabbage harvesting box, and the cabbage is harvested automatically; the problems of low efficiency and high labor intensity of manual harvesting are effectively overcome, and large-scale and standardized harvesting of cabbage is realized, thereby improving the harvesting quality of cabbage. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. Among them:

[0031] Figure 1 It is a structural schematic diagram of an automatic cabbage harvesting device provided according to some embodiments of the present application;

[0032] Figure 2 for Figure 1 Partial view at A in the middle;

[0033] Figure 3 It is a schematic diagram of an axial side of a drawing and conveying module provided according to some embodiments of the present application;

[0034] Figure 4 for Figure 3 Another axial schematic diagram of the drawing and conveying module shown;

[0035] Figure 5 It is a schematic axial view of a transmission module provided according to some embodiments of the present application;

[0036] Figure 6 for Figure 5 Another axial schematic diagram of the transmission module shown;

[0037] Figure 7 A schematic diagram of the structure of a tilt adjustment module provided according to some embodiments of the present application;

[0038] Figure 8 This is a schematic structural diagram of an automated cabbage harvesting vehicle provided according to some embodiments of the present application.

[0039] Description of reference numerals:

[0040] 100, pulling and conveying module; 200, transmission module; 300, tilt adjustment module; 400, cabbage harvesting box; 500, walking vehicle;

[0041] 101, a pulling shovel; 102, a pulling shovel; 103, a pulling drive motor;

[0042] 201, transmission mounting frame; 202, conveyor belt; 203, transmission drive motor; 204, adaptive connecting rod; 205, bevel gear set; 211, clamping plate;

[0043] 301, connecting frame; 302, connecting rod; 303, stabilizing frame; 304, stabilizing rod; 305, driving cylinder. DETAILED DESCRIPTION

[0044] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present application and does not limit the present application. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present application without departing from the scope or spirit of the present application. For example, a feature shown or described as a part of an embodiment may be used in another embodiment to produce yet another embodiment. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the embodiments of the present invention should belong to the scope of protection of the embodiments of the present invention.

[0045] At present, there is no efficient automated equipment specifically for harvesting cabbage on the market. In order to solve the problems of uneven harvesting quality, high labor intensity, low efficiency and insufficient labor during manual harvesting, the present application embodiment proposes an automated cabbage harvesting device installed on a walking vehicle for automated harvesting of cabbage. Figures 1 to 8 As shown, in the automated cabbage harvesting device, the guiding and conveying module 100 is installed on the inclination adjustment module 300 at a first adjustable inclination angle, and is used to cut off the roots of the cabbage to be harvested and guide the cut cabbage to move along the conveying direction; the tail of the guiding and conveying module 100 is connected to the front end of the transmission module 200, and is used to guide and convey the cabbage on the guiding and conveying module 100 to the cabbage collection box installed on the walking vehicle 500; the inclination adjustment module 300 is detachably installed on the walking vehicle 500, and is used to perform follow-up adjustment on the first adjustable inclination angle of the guiding and conveying module 100 and the second adjustable inclination angle of the transmission module 200 arranged thereon.

[0046] Thus, the first adjustable inclination angle of the guiding and conveying module 100 and the second adjustable inclination angle of the conveying module 200 are adjusted by the inclination adjustment module 300, so that the cabbage can be cut and conveyed at the best angle relative to the cabbage planting ground; the root of the cabbage to be harvested is cut by the guiding and conveying module 100, and the guiding movement is performed along the conveying direction, so that the cut cabbage is guided by the conveying module 200 into the cabbage harvesting box 400, and the cabbage is harvested automatically; the problems of low efficiency and high labor intensity of manual harvesting are effectively overcome, and large-scale and standardized harvesting of cabbage is realized, thereby improving the harvesting quality of cabbage.

[0047] In a specific example, the pulling and conveying module 100 includes a pulling bucket 101 and a pulling shovel 102; wherein, the pulling bucket 101 is a U-shaped structure, and the rear end of the bottom plate of the U-shaped structure is rotatably connected to the inclination adjustment module 300, and can rotate around the axis (i.e., the first axis) rotatably connected to the inclination adjustment module 300 under the active action of the inclination adjustment module 300, thereby adjusting the first adjustable inclination angle of the pulling bucket 101 relative to the cabbage planting ground, so that the pulling bucket 101 can adapt to planting grounds of different slopes and flatnesses, thereby improving the cabbage harvesting efficiency.

[0048] A pulling shovel 102 is installed at the front end of the bottom plate of the U-shaped structure, and an arc-shaped cutting portion extending from the front end of the bottom plate of the U-shaped structure is arranged on the outer wall of the pulling shovel 102 along the circumferential direction, so as to rotate and cut the roots of the cabbage to be harvested under the drive of the pulling drive motor 103. At the same time, through the active action of the inclination adjustment module 300, the inclination of the pulling bucket 101 relative to the cabbage planting ground is adjusted, so that the pulling shovel 102 can be better aligned with the cabbage roots, thereby improving the cutting effect of the pulling shovel 102 on the cabbage roots.

[0049] In a specific application scenario, along the width direction of the pulling bucket 101, two pulling shovels 102 are symmetrically installed at the front end of the bottom plate of the U-shaped structure of the pulling bucket 101. The two pulling shovels 102 rotate in opposite directions relative to each other through two pulling drive motors 103 installed on the outer side wall of the U-shaped structure, and the arc-shaped cutting parts on the two pulling shovels 102 are used to cut the roots of the cabbage to be harvested.

[0050] The two pulling shovels 102 are respectively drivingly connected to the pulling driving motors 103 on the corresponding sides of the U-shaped structure. Among them, two pulling driving motors 103 are symmetrically installed on the outer side walls of the U-shaped structure, and the output ends of the pulling driving motors 103 are equipped with driving pulleys; at the same time, driven pulleys coaxially connected to the pulling shovels 102 are arranged under the bottom plate of the U-shaped structure. That is to say, the two pulling shovels 102 are rotatably connected to the bottom plate of the U-shaped structure of the pulling bucket 101, and the rotating shaft of each pulling shovel 102 extends downward from the bottom plate of the U-shaped structure of the pulling bucket 101 and then connects to the driven pulley, that is, the pulling shovel 102 is coaxially connected to the driven pulley and is respectively located on the upper and lower sides of the bottom plate of the U-shaped structure of the pulling bucket 101. Furthermore, power transmission is achieved through the belt drive between the driving pulley and the driven pulley, driving the corresponding two pulling shovels 102 to rotate. In addition, at the front end of the bottom plate of the U-shaped structure of the pulling bucket 101, a plurality of guiding teeth are arranged side by side in the width direction to guide the cutting direction of the Chinese cabbage during the harvesting process of the Chinese cabbage.

[0051] In another specific example, after the root of the Chinese cabbage to be harvested is cut off by the arc-shaped cutting part of the pulling shovel 102, the Chinese cabbage enters the pulling bucket 101 along the conveying direction under the action of inertia and the forward movement of the walking vehicle 500 under the rotational action of the pulling shovel 102. The Chinese cabbage is sent into the Chinese cabbage collection box installed on the walking vehicle 500 through the conveying module 200 connected to the tail of the pulling bucket 101. Among them, in the conveying module 200, the conveying mounting frame 201 is rotatably connected to the inclination angle adjustment module 300 by the adaptive connecting rod 204 according to the second adjustable inclination angle, and can rotate around the axis (i.e., the second axis) where it (the conveying mounting frame 201) is rotatably connected to one end of the adaptive connecting rod 204 and around the axis (i.e., the third axis) where the other end of the adaptive connecting rod 204 is rotatably connected to the inclination angle adjustment module 300 with the adjustment of the first adjustable inclination angle, realizing the adjustment of its second adjustable inclination angle relative to the walking vehicle 500.

[0052] The front end of the conveying mounting frame 201 is fixedly connected to the bottom plate of the U-shaped structure of the pulling bucket 101 of the pulling and conveying module 100. When the pulling and conveying module 100 adjusts its first adjustable inclination angle relative to the Chinese cabbage planting ground under the action of the inclination angle adjustment module 300, the conveying mounting frame 201 follows the movement around the second axis and / or the third axis driven by the pulling bucket 101 of the pulling and conveying module 100, realizing the follow-up adjustment of its second adjustable inclination angle relative to the walking vehicle 500.

[0053] During the inclination adjustment process of the conveying mounting frame 201, the adaptive link 204 connected to the inclination adjustment module 300 follows and rotates adaptively, and the conveying mounting frame 201 is connected to the inclination adjustment module 300 through two adaptive links 204 symmetrically distributed along the width direction, so as to further improve the rotation stability of the conveying mounting frame 201. In a specific application scenario, the conveying mounting frame 201 adopts an inverted trapezoidal frame structure, and two adaptive links 204 are symmetrically distributed on the outside of the conveying mounting frame 201 through connecting pieces of the inverted trapezoidal structure, so as to support the conveying mounting frame 201.

[0054] In the conveying installation frame 201, two conveyor belts 202 are respectively installed on the two waists of the inverted trapezoidal frame structure, that is, the two conveyor belts 202 are symmetrically arranged on the inner sides of the two waists of the inverted trapezoidal structure of the conveying installation frame 201 through multiple rollers to form a V-shaped conveying groove; the bottom front end of the inverted trapezoidal structure of the conveying installation frame 201 is connected to the drawing bucket 101 of the drawing conveying module 100 through a connecting bracket. Among them, the connecting bracket is a triangular structure as a whole, and the bottom plate of the connecting bracket (corresponding to the horizontal side of the triangular structure) is detachably connected to the bottom plate of the drawing bucket 101 by bolts, and the installation connecting plate (corresponding to the hypotenuse of the triangular structure) is connected to the bottom plate of the inverted trapezoidal structure of the conveying installation frame 201 to support the conveying installation frame 201 to enhance the stability of the conveying installation frame 201.

[0055] At the same time, a clamping plate 211 is provided at the front end of the connecting bracket, that is, a clamping plate 211 is provided at the junction of the bottom plate of the connecting bracket and the installation connecting plate, and the clamping plate 211 is arranged perpendicular to the installation connecting plate, and two clamping plates 211 arranged in parallel are connected to the front end of the conveying mounting frame 201, and are located at the bottom of the V-shaped conveying groove formed by the two conveyor belts 202. Furthermore, by clamping the front end plate of the inverted trapezoidal structure of the conveying mounting frame 201 at the bottom of the V-shaped conveying groove formed by the two conveyor belts 202 using two clamping plates 211 arranged in parallel, the conveying mounting frame 201 is fixed and the left and right movement trend of the conveying mounting frame 201 is limited, so as to effectively prevent the conveying mounting frame 201 from moving along the width direction of the drawing bucket 101, and moving along the length direction of the conveying mounting frame 201, so that the conveying mounting frame 201 and the drawing bucket 101 form a whole, and effectively enhance the overall stability of the structure.

[0056] As the two conveyor belts 202 rotate, the cabbage rolls upward between the two conveyor belts 202 and enters the cabbage collection box. In the process of the cabbage rolling upward with the conveyor belts 202 in the V-shaped conveying groove formed by the two conveyor belts 202, the two conveyor belts 202 rotate in the same direction to correct the moving direction of the cabbage, effectively preventing the cabbage from running off, and entering the cabbage collection box.

[0057] On the conveying mounting frame 201, a conveying drive motor 203 is installed at one end away from the drawing bucket 101, that is, the conveying drive motor 203 is installed on the outer side of the end of the conveying mounting frame 201 away from the drawing conveying module 100, and is used to drive the two conveyor belts 202 to rotate synchronously. Specifically, the conveying drive motor 203 is installed on the outer side of one waist of the inverted trapezoidal structure of the conveying mounting frame 201, and drives one conveyor belt 202 to rotate through belt transmission; at the same time, the two conveyor belts 202 transmit power through the meshing bevel gear set 205, so as to transmit the power of the conveying drive motor 203 to the other conveyor belt 202, so that the two conveyor belts 202 rotate synchronously under the drive of the conveying drive motor 203.

[0058] In a specific application scenario, the bevel gear set 205 is located at the bottom of the V-shaped conveying groove formed by two conveyor belts 202, and the bevel driving gear in the conical blowing wheel set is installed on a roller corresponding to the conveyor belt 202 directly driven by the conveying drive motor 203, and the bevel driven gear in the bevel gear set 205 is installed on a roller corresponding to the other conveyor belt 202. Then, through the meshing between the bevel driving gear and the bevel driven gear, the power of the conveying drive motor 203 is transmitted from one conveyor belt 202 to the other conveyor belt 202, thereby realizing the transportation of cabbage.

[0059] In the present application, the pulling and conveying module 100 and the conveying module 200 are both rotatably connected to the inclination adjustment module 300, and the first adjustable inclination of the pulling and conveying module 100 relative to the cabbage planting ground and the second adjustable inclination of the conveying module 200 relative to the walking vehicle 500 are adjusted under the action of the inclination adjustment module 300. In a specific example, in the inclination adjustment module 300, the connecting frame 301 is detachably mounted on the walking vehicle 500, and the two ends of the connecting rod 302 are respectively rotatably connected to the connecting frame 301 and the rear end of the pulling bucket 101 of the pulling and conveying module 100; one end of the stabilizing frame 303 is rotatably connected to the connecting frame 301, and the other end is connected to the connecting rod 302 through the stabilizing rod 304, wherein the two ends of the stabilizing rod 304 are respectively rotatably connected to the other end of the stabilizing frame 303 and the middle part of the connecting rod 302; one end of the driving oil cylinder 305 is rotatably connected to the connecting frame 301, and the other end is rotatably connected to the stabilizing frame 303.

[0060] Under the telescopic movement of the driving cylinder 305, the stabilizing frame 303 can rotate around the axis of its rotational connection with the connecting frame 301. At the same time, the stabilizing frame 303 drives the connecting rod 302 to rotate around the axis of its rotational connection with the connecting frame 301 through the stabilizing rod 304, thereby realizing the adjustment of the inclination angle (first adjustable inclination angle) of the bottom plate of the U-shaped structure of the pulling bucket 101 of the pulling and conveying module 100 relative to the cabbage planting ground.

[0061] Under the action of the driving cylinder 305, the first adjustable inclination angle of the guiding and conveying module 100 and the second adjustable inclination angle of the transmission module 200 are adjusted accordingly, so that the guiding and conveying module 100 can cut and convey the cabbage at the best angle relative to the cabbage planting ground; the arc-shaped cutting part arranged on the guiding shovel 102 in the guiding and conveying module 100 is used to cut the root of the cabbage to be harvested, and the cabbage is guided along the conveying direction, so that the cut cabbage is guided by the transmission module 200 into the cabbage harvesting box 400.

[0062] An embodiment of the present application also provides an automated cabbage harvesting vehicle, on which an automated cabbage harvesting device according to any of the above embodiments is installed, to achieve fully automatic harvesting of cabbage; effectively overcome the problems of low efficiency and high labor intensity of manual harvesting, achieve large-scale and standardized harvesting of cabbage, and improve the harvesting quality of cabbage.

[0063] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0064] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0065] 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 one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0067] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0068] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic cabbage harvesting device, characterized in that: Installed on a walking vehicle, it is used for automatic harvesting of cabbage. The harvesting device includes: a pulling and conveying module, a transmission module and an inclination adjustment module; The guiding and conveying module is installed on the inclination adjustment module at a first adjustable inclination angle, and is used to cut off the roots of the cabbage to be harvested and guide the cut cabbage to move along the conveying direction; The front end of the conveying module is connected to the rear end of the drawing and conveying module, and is arranged on the inclination adjustment module at a second adjustable inclination angle, so as to guide and convey the cabbages on the drawing and conveying module to the cabbage collection box installed on the walking vehicle; The inclination angle adjustment module can be detachably mounted on the walking vehicle, and is used for performing follow-up adjustment on the first adjustable inclination angle and the second adjustable inclination angle.

2. The automatic cabbage harvesting device according to claim 1, characterized in that: The drawing and conveying module comprises: The pulling bucket is a U-shaped structure, the rear end of the bottom plate of the U-shaped structure is rotatably connected to the inclination adjustment module, and can be rotated around the first axis under the active action of the inclination adjustment module to adjust the first adjustable inclination relative to the cabbage planting ground; wherein the first axis is the axis of the rotational connection between the pulling bucket and the inclination adjustment module; The pulling shovel is installed at the front end of the bottom plate of the C-shaped structure. The outer wall is circumferentially provided with an arc-shaped cutting portion extending from the front end of the bottom plate of the C-shaped structure, so as to rotate and cut the roots of the cabbage to be harvested under the drive of the pulling drive motor.

3. The automatic cabbage harvesting device according to claim 2, characterized in that: There are two pulling shovels, and the two pulling shovels are installed in the front end of the bottom plate of the C-shaped structure so as to rotate symmetrically along the width direction of the pulling shovel bucket, and the two pulling shovels are rotated in opposite directions relative to each other through the two pulling drive motors installed on the outer side walls of the C-shaped structure to cut the roots of the cabbage to be harvested; wherein, the pulling shovel and the pulling drive motor on the corresponding side are belt-driven.

4. The intelligent cabbage harvesting vehicle according to claim 1 is characterized in that: The conveying module includes: a conveying mounting frame, a conveying belt, a conveying driving motor and an adaptive connecting rod. The conveying mounting frame is connected to the inclination adjustment module by an adaptive connecting rod and is tilted and rotated according to the second adjustable inclination angle, and the front end is fixedly connected to the tail of the drawing and conveying module; wherein the conveying mounting frame rotates around the second axis and / or the third axis as the first adjustable inclination angle is adjusted, so as to adjust the second adjustable inclination angle relative to the walking vehicle; the second axis is the axis along which one end of the adaptive connecting rod is rotatably connected to the conveying mounting frame, and the third axis is the axis along which the other end of the adaptive connecting rod is rotatably connected to the inclination adjustment module; There are two conveyor belts, and the two conveyor belts are symmetrically arranged on the inner sides of the two waists of the inverted trapezoidal structure of the conveyor mounting frame through multiple rollers to form a V-shaped conveyor groove; The conveying drive motor is installed on the outer side of the conveying mounting frame away from one end of the drawing and conveying module, and is used to drive the two conveyor belts to rotate synchronously.

5. The automatic cabbage harvesting device according to claim 4, characterized in that: The front end of the conveying mounting frame is connected to the drawing and conveying module through a connecting bracket; Among them, a clamping plate is provided on the connecting bracket, and the clamping plate is connected to the front end of the conveying mounting frame and is located at the bottom of the V-shaped conveying groove formed by the two conveyor belts to fix the conveying mounting frame and limit the left and right movement trend of the conveying mounting frame.

6. The automatic cabbage harvesting device according to claim 4, characterized in that: The transmission drive motor drives one of the conveyor belts to rotate through belt transmission, and the two conveyor belts transmit power through meshing bevel gear sets so that they rotate synchronously under the drive of the transmission drive motor.

7. The automatic cabbage harvesting device according to claim 6, characterized in that: The bevel gear set is located at the bottom of the V-shaped conveying groove, and the bevel driving gear in the bevel gear set is installed on one of the rollers corresponding to the conveyor belt directly driven by the conveying driving motor, and the bevel driven gear in the bevel gear set is installed on another roller corresponding to the conveyor belt.

8. The automatic cabbage harvesting device according to claim 6, characterized in that: There are two adaptive connecting rods, and the two adaptive connecting rods are symmetrically distributed on the outside of the conveying mounting frame through a connecting piece with an inverted trapezoidal structure, so as to support the conveying mounting frame.

9. The automatic cabbage harvesting device according to claim 5, characterized in that: The tilt angle adjustment module includes: a connecting frame, a connecting rod, a stabilizing frame, and a driving cylinder. The connecting frame can be detachably mounted on the walking vehicle. The two ends of the connecting rod are rotatably connected to the connecting frame and the rear end of the drawing and conveying module respectively; One end of the stabilizing frame is rotatably connected to the connecting frame, and the other end is connected to the connecting rod through a stabilizing rod; wherein the two ends of the stabilizing rod are rotatably connected to the other end of the stabilizing frame and the middle part of the connecting rod respectively; One end of the driving oil cylinder is rotatably connected to the connecting frame, and the other end is rotatably connected to the stabilizing frame; wherein the telescopic movement of the driving oil cylinder drives the stabilizing frame to rotate around the axis rotatably connected to the connecting frame.

10. An automated cabbage harvesting vehicle, characterized in that: The automatic cabbage harvesting device according to any one of claims 1 to 9 is installed to automatically harvest cabbage.

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