Flexible harvesting device

Abstract

The invention discloses a flexible harvesting device, which comprises a driving assembly, a driving assembly, a driving assembly, a driving assembly and a driving assembly, and is characterized in that the driving assembly is provided with a driving output end; the movable sleeve assembly is arranged at the driving output end, and the movable sleeve assembly can axially move at the driving output end under the action of the driving assembly; the two connecting rod assemblies are respectively arranged on two opposite sides of the movable sleeve assembly; the two defoliating knife assemblies are connected to the movable sleeve assembly through the connecting rod assemblies respectively, each defoliating knife assembly comprises a defoliating knife and a miniature pressure sensor connected to the defoliating knife, the miniature pressure sensors are electrically connected with the driving assembly, and flexible harvesting is achieved by controlling constant clamping force. And the leaf removing cutter assembly can realize the opening and closing actions of the leaf removing cutter along with the axial movement of the movable sleeve assembly. According to the invention, flexible and quantity-controllable harvesting of crop leaves can be realized.

Description

Technical Field

[0001] The present invention relates to an agricultural harvesting device, and particularly to a flexible harvesting device suitable for harvesting the leaves of cash crops. Background Art

[0002] Cash crops usually take different parts such as fruits, rhizomes, branches and leaves as harvests, and there are also different requirements for harvesting different parts. Taking tobacco as an example, it is a herbaceous plant, and its stem is relatively vulnerable to mechanical damage. Therefore, at present, the harvesting of tobacco leaves mainly relies on manual methods.

[0003] In addition, the harvesting process of tobacco also has its particularity. Generally, a tobacco plant needs to be harvested 4 times, and each harvest is carried out in a bottom-up manner. The lower leaves are harvested once, the middle leaves are harvested twice, and the upper leaves are harvested once. Each harvest is 3 - 6 leaves. When harvesting manually, it is necessary to break the leaves with fingers and also manually carry the tobacco leaves in the field. This method has low harvesting efficiency and high labor intensity. Moreover, the harvesting time of tobacco leaves is relatively concentrated, and the regionality of harvesting labor is strong, which makes it difficult to harvest the ripe tobacco leaves at the best time, resulting in a reduction in the quality of the harvested tobacco leaves.

[0004] Therefore, how to design a device suitable for harvesting the leaves of cash crops such as tobacco, so that it can overcome the defects in the prior art, has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of the present invention is to provide a flexible harvesting device that can achieve metered and flexible harvesting of crop leaves.

[0006] To achieve the above purpose, the present invention provides a flexible harvesting device, including:

[0007] A driving component, which has a driving output end;

[0008] A moving sleeve component, which is arranged at the driving output end, and the moving sleeve component can axially move at the driving output end under the action of the driving component;

[0009] Two connecting rod components, which are respectively arranged on opposite sides of the moving sleeve component; and

[0010] Two leaf - removing knife components, which are respectively connected to the moving sleeve component through the connecting rod components. Each leaf - removing knife component includes a leaf - removing knife and a micro - pressure sensor connected to the leaf - removing knife. The micro - pressure sensor is electrically connected to the driving component, and the leaf - removing knife component can realize the opening and closing action of the leaf - removing knife with the axial movement of the moving sleeve component.

[0011] Among them, the flexible harvesting device further includes a multi-dimensional force sensor connected to the driving component. The multi-dimensional force sensor can collect the force conditions during the defoliation process and is used for the statistics of the number of defoliated leaves per plant and the cumulative number of defoliated leaves.

[0012] Among them, the driving component includes a motor main body and a driving lead screw. The moving sleeve component is sleeved and connected to the driving lead screw.

[0013] Among them, the moving sleeve component includes a moving sleeve seat and a moving sleeve. The moving sleeve is fixed within the moving sleeve seat. The connecting rod components are respectively connected to both sides of the moving sleeve seat.

[0014] Among them, each of the connecting rod components includes a first connecting rod, a second connecting rod, and at least one connecting plate. One side of the connecting plate is rotatably connected to one end of the first connecting rod, the other side of the connecting plate is rotatably connected to one end of the second connecting rod. The other end of the first connecting rod is fixed to the driving component, the other end of the second connecting rod is rotatably connected to the moving sleeve component, and one end of the defoliating knife component is arranged on the connecting plate.

[0015] Among them, the flexible harvesting device further includes a fixed bottom plate arranged on the driving component. The other end of the first connecting rod is connected to the driving component by being connected to the fixed bottom plate. The two first connecting rods are respectively connected to both sides of the fixed bottom plate.

[0016] Among them, the at least one connecting plate is two connecting plates which are arranged vertically opposite to each other. One end of the defoliating knife component is arranged between the two connecting plates.

[0017] Among them, the micro pressure sensor is arranged on the connecting plate. The defoliating knife is connected to the micro pressure sensor and is located outside the connecting plate. The micro pressure sensor realizes flexible harvesting by controlling the constant clamping force between the two defoliating knives.

[0018] Among them, each of the defoliating knife components further includes a sensor fixing plate connected to the connecting plate. The micro pressure sensor is connected to the connecting plate by being connected to the sensor fixing plate.

[0019] Among them, each of the defoliating knife components further includes two guide blocks respectively connected to both sides of the micro pressure sensor and extending below the defoliating knife to fix the defoliating knife.

[0020] Compared with the prior art, the flexible harvesting device of the present invention can achieve flexible and quantity-controllable harvesting of crop leaves.

[0021] The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments, but it is not intended to limit the present invention. Description of the Drawings

[0022] Figure 1 Schematic diagram of the structure of the flexible harvesting device provided by a preferred embodiment of the present invention;

[0023] Figure 2 Schematic diagram of the structure of the left defoliating knife assembly provided by a preferred embodiment of the present invention;

[0024] Figure 3 Schematic diagram of the structure of the right defoliating knife assembly provided by a preferred embodiment of the present invention;

[0025] Figure 4 Schematic diagram of the structure of the moving sleeve assembly provided by a preferred embodiment of the present invention;

[0026] Figure 5 Schematic diagram of the open and closed states of the flexible harvesting device provided by a preferred embodiment of the present invention;

[0027] Figure 6 Flow chart of defoliation and counting of the flexible harvesting device provided by a preferred embodiment of the present invention.

[0028] Among them, reference numerals:

[0029] 1: Multi-dimensional force sensor

[0030] 2: Driving assembly

[0031] 21: Motor main body

[0032] 22: Driving lead screw

[0033] 3: Fixed bottom plate

[0034] 4: First connecting rod

[0035] 5: Connecting plate

[0036] 6: Left defoliating knife assembly

[0037] 61: Left defoliating knife

[0038] 62: First micro pressure sensor

[0039] 63: Guide block

[0040] 64: Sensor fixing plate

[0041] 7: Second connecting rod

[0042] 8: Moving sleeve assembly

[0043] 81: Moving sleeve seat

[0044] 82: Moving sleeve

[0045] 9: Right defoliating knife assembly

[0046] 91: Right defoliating knife

[0047] 92: Second micro pressure sensor

[0048] 93: Guide block

[0049] 94: Sensor fixing plate Detailed implementation manners

[0050] To clearly illustrate the technical features of the present invention so that those skilled in the art can clearly understand the structure, features, usage methods and technical effects of the present invention, the following will elaborate on the solution of the present invention through specific implementation manners and in conjunction with the accompanying drawings. However, the following is only for illustrative purposes and does not limit the present invention.

[0051] Please refer to the Figures 1 to 5 , Figure 1 structural schematic diagram of the flexible harvesting device provided by a preferred embodiment of the present invention; Figure 1 structural schematic diagram of the flexible harvesting device provided by a preferred embodiment of the present invention; Figure 2 structural schematic diagram of the left defoliator assembly provided by a preferred embodiment of the present invention; Figure 3 structural schematic diagram of the right defoliator assembly provided by a preferred embodiment of the present invention; Figure 4 structural schematic diagram of the moving sleeve assembly provided by a preferred embodiment of the present invention; Figure 5 structural schematic diagram of the open and closed states of the flexible harvesting device provided by a preferred embodiment of the present invention.

[0052] The present invention provides a flexible harvesting device, including a driving assembly 2, a moving sleeve assembly 8, a two-link assembly and two defoliator assemblies. The driving assembly 2 has a driving output end. The moving sleeve assembly 8 is arranged at the driving output end and can axially move at the driving output end under the action of the driving assembly 2. The two-link assemblies are respectively arranged on opposite sides of the moving sleeve assembly 8. The two defoliator assemblies are respectively connected to the moving sleeve assembly 8 through the link assemblies. Each defoliator assembly includes a defoliator and a micro pressure sensor connected to the defoliator. The micro pressure sensor is electrically connected to the driving assembly 2. The defoliator assembly can realize the opening and closing actions of the defoliator with the axial movement of the moving sleeve assembly 8.

[0053] The flexible harvesting device of the present invention is arranged on a harvesting equipment, which may include a control device and a positioning and driving device. On the one hand, the positioning and driving device can drive the overall movement of the flexible harvesting device to approach and move away from the plant. On the other hand, it can also drive the flexible harvesting device to move up and down to realize the action of the defoliating knife assembly moving up and down to cut and defoliate. The control device is electrically connected to the positioning and driving device and the driving component 2 to control the movement of the positioning and driving device and the action of the driving output end of the driving component 2.

[0054] The flexible harvesting device further includes a multi-dimensional force sensor 1 connected to the driving component 2. One end of the multi-dimensional force sensor 1 is connected to other components of the harvesting equipment (for example, connected to the positioning and driving device of the harvesting equipment), and the other end is connected to the driving component 2 through fasteners such as bolts. The driving component 2 is connected to the harvesting equipment through the multi-dimensional force sensor 1. The multi-dimensional force sensor 1 can measure the defoliating cutting force and measure the number of defoliated leaves according to the peak times of the measured force.

[0055] The driving component 2 includes a motor main body 21 and a driving lead screw 22. The moving sleeve assembly 8 is sleeved and connected to the driving lead screw 22. The driving component 2 is a driving motor. The driving lead screw 22 extends from the motor main body 21. The driving lead screw 22 constitutes the driving output end, and the axial movement of the moving sleeve assembly 8 on the driving lead screw 22 is realized by the rotation of the driving motor. When the driving component 2 drives the moving sleeve assembly 8 to move in the direction approaching the driving component 2, the defoliating knife assembly is driven by the link assembly to close inward; when the driving component 2 drives the moving sleeve assembly 8 to move in the direction away from the driving component 2, the defoliating knife assembly is driven by the link assembly to open outward.

[0056] In the embodiment of the present invention that simultaneously has the flexible defoliating function and the defoliating counting function, the multi-dimensional force sensor 1 and the driving component 2 are simultaneously provided. The multi-dimensional force sensor 1, the driving component 2 and the positioning and driving device of the harvesting equipment are electrically connected.

[0057] During the harvesting process, the control device controls the positioning drive device to drive the entire flexible harvesting device to move, so that the defoliating knife assembly corresponds to the position of the tobacco plant (the defoliating knife assembly is in an open state initially). At this time, the control device then controls the drive assembly 2 to start rotating, causing the defoliating knife assembly to close inward. When the defoliating knife contacts the tobacco plant, the micro pressure sensor sends a pressure signal to the drive assembly 2. The drive assembly 2 stops rotating upon receiving the pressure signal and sends a signal to the positioning drive device to drive the flexible harvesting device to move upward for defoliation. When the multi-dimensional force sensor 1 measures that the defoliation quantity reaches the set quantity, it sends a signal to the positioning drive device to stop driving the flexible harvesting device to move up and down to stop the defoliation action. After defoliation, the control device controls the drive assembly 2 to rotate in the reverse direction to open the defoliating knife assembly outward, and then the control device controls the positioning drive device to drive the flexible harvesting device to move away from the harvesting position.

[0058] In other embodiments of the present invention, it may only have the flexible defoliation function without the defoliation counting function. In this embodiment, the multi-dimensional force sensor 1 is not provided, and the drive assembly 2 of the present invention is directly fixedly connected and electrically connected to the positioning drive device of the harvesting equipment.

[0059] During the harvesting process, the difference from the foregoing embodiment is that: when the drive assembly 2 stops rotating and maintains the current clamping position of the defoliating knife assembly, the positioning drive device drives the flexible harvesting device to move up and down for defoliation, and then the control device directly controls the positioning drive device to stop defoliation (such as by manually confirming the defoliation timing and controlling it through the control device).

[0060] The moving sleeve assembly 8 includes a moving sleeve seat 81 and a moving sleeve 82. The moving sleeve 82 is fixed within the moving sleeve seat 81, and the connecting rod assembly is respectively connected to both sides of the moving sleeve seat 81. The moving sleeve 82 can be fixed to the moving sleeve seat 81 by fasteners such as bolts, and the drive lead screw 22 is disposed within the moving sleeve 82.

[0061] Each connecting rod assembly includes a first connecting rod 4, a second connecting rod 7, and at least one connecting plate 5. One side of the connecting plate 5 is rotatably connected to one end of the first connecting rod 4, the other side of the connecting plate 5 is rotatably connected to one end of the second connecting rod 7, the other end of the first connecting rod 4 is fixed to the drive assembly 2, the other end of the second connecting rod 7 is rotatably connected to the moving sleeve assembly 8, and one end of the defoliating knife assembly is disposed on the connecting plate 5.

[0062] The flexible harvesting device further includes a fixed bottom plate 3, which is arranged on the driving assembly 2. The other end of the first connecting rod 4 is connected to the driving assembly 2 by being connected to the fixed bottom plate 3, and the two first connecting rods 4 are respectively connected to both sides of the fixed bottom plate 3. The fixed bottom plate 3 can be fixedly connected to the driving assembly 2 through fasteners such as bolts. Specifically, the fixed bottom plate 3 is fixed to one end of the driving assembly 2 opposite to the multi-dimensional force sensor 1, and the driving lead screw 22 can pass through the hole in the middle of the fixed bottom plate 3. The other ends of the two first connecting rods 4 can be fixedly connected to both sides of the fixed bottom plate 3 through fasteners such as bolts.

[0063] The at least one connecting plate 5 is two connecting plates 5, and the two connecting plates 5 are arranged up and down opposite to each other. One end of the defoliator assembly is arranged between the two connecting plates 5. That is, on both sides of the moving sleeve assembly 8, there is a first connecting rod 4 and a second connecting rod 7 respectively. On each side, the first connecting rod 4 and the second connecting rod 7 each have a connecting plate 5 up and down. One end of each first connecting rod 4 is rotatably connected to the two connecting plates 5 up and down, and the other end is fixedly connected to the fixed bottom plate 3; one end of each second connecting rod 7 is rotatably connected to the two connecting plates 5 up and down, and the other end is rotatably connected to one side of the moving sleeve seat 81 of the moving sleeve assembly 8, and one end of the defoliator assembly is fixed between the two connecting plates 5 up and down.

[0064] The micro pressure sensor is arranged on the connecting plate 5, and the defoliator is connected to the micro pressure sensor and is located outside the connecting plate 5. The defoliator can be fixedly connected to the micro pressure sensor through fasteners such as screws.

[0065] Each defoliator assembly further includes a sensor fixing plate, which is connected to the connecting plate 5. The micro pressure sensor is connected to the connecting plate 5 by being connected to the sensor fixing plate. The sensor fixing plate can be fixedly connected to the connecting plate 5 through fasteners such as bolts, and the micro pressure sensor can be fixedly connected to the sensor fixing plate through fasteners such as bolts.

[0066] Each defoliator assembly further includes two guide blocks, which are respectively connected to both sides of the micro pressure sensor and extend below the defoliator to fix the defoliator. The two guide blocks can be fixedly connected to the micro pressure sensor through fasteners such as bolts.

[0067] Specifically, the two defoliator assemblies include a left defoliator assembly 6 and a right defoliator assembly 9. The left defoliator assembly 6 includes a left defoliator 61, a first micro pressure sensor 62, two guide blocks 63 and a sensor fixing plate 64. The right defoliator assembly 9 includes a right defoliator 91, a second micro pressure sensor 92, two guide blocks 93 and a sensor fixing plate 94.

[0068] One side of the connecting plate 5 where the left leaf stripping knife assembly 6 is located is connected to the fixed bottom plate 3 through the first connecting rod 4, and the other side is connected to the moving sleeve assembly 8 through the second connecting rod 7. The right leaf stripping knife assembly 9 is the same as the left leaf stripping knife assembly 6. One side of the connecting plate 5 where it is located is connected to the fixed bottom plate 3 through the first connecting rod 4, and the other side is connected to the moving sleeve assembly 8 through the second connecting rod 7.

[0069] The sensor fixing plates 64 and 94 are fixed in the middle of the upper and lower connecting plates 5. One end of the first micro pressure sensor 62 and the second micro pressure sensor 92 are respectively fixed to the sensor fixing plates 64 and 94, and the left leaf stripping knife 61 and the right leaf stripping knife 91 are respectively fixed to the other ends. Two guide blocks 63 are respectively fixed on both sides of the first micro pressure sensor 62, and extend below the left leaf stripping knife 61 through the two guide blocks 63 to further fix the left leaf stripping knife 61. Similarly, two guide blocks 93 are respectively fixed on both sides of the second micro pressure sensor 92, and extend below the right leaf stripping knife 91 through the two guide blocks 93 to further fix the right leaf stripping knife 91.

[0070] Please refer to Figure 6 , Figure 6 which is the flowchart of leaf stripping and counting of the flexible harvesting device provided by a preferred embodiment of the present invention.

[0071] Taking tobacco harvesting as an example, the flexible harvesting device of the present invention operates as follows during the harvesting process:

[0072] 1) The flexible harvesting device of the present invention approaches the tobacco plant under the action of the positioning driving device of the harvesting equipment. At this time, the leaf stripping knife assemblies on both sides are in an open state, and the tobacco plant is located in the middle of the left leaf stripping knife assembly 6 and the right leaf stripping knife assembly 9;

[0073] 2) The driving assembly 2 drives the moving sleeve assembly 8 to axially move towards the motor main body 21 through the rotation of the driving lead screw 22. During the movement of the moving sleeve assembly 8, the second connecting rods 7 on both sides thereof will be synchronously driven to move, so that the left leaf stripping knife assembly 6 and the right leaf stripping knife assembly 9 will inwardly hug the tobacco plant under the action of the second connecting rods 7;

[0074] 3) When the left leaf stripping knife assembly 6 and the right leaf stripping knife assembly 9 hug the tobacco plant, the inner sides of the left leaf stripping knife 61 and / or the right leaf stripping knife 91 contact the outer diameter of the tobacco rod and are stressed, and the first micro pressure sensor 62 and / or the second micro pressure sensor 92 will generate pressure signals accordingly. When the driving assembly 2 receives the pressure signals, it will stop rotating, so that the left leaf stripping knife assembly 6 and the right leaf stripping knife assembly 9 maintain the current position and stably hug the tobacco plant without further tightening;

[0075] 4) After the left defoliating knife assembly 6 and the right defoliating knife assembly 9 stably embrace the tobacco plant, the flexible harvesting device moves upward under the action of the positioning drive device of the harvesting equipment. During the upward movement of the left defoliating knife 61 and the right defoliating knife 91, the connection between the leaf vein of the petiole and the tobacco stem is cut off, causing the tobacco leaves to be defoliated.

[0076] 5) During the cutting and defoliating process, the flexible harvesting device will be subject to the resistance of defoliation. The multi-dimensional force sensor 1 can count according to the peak value of the measured force, and record the peak value of each measured force to realize the statistics of the defoliation quantity (including the defoliation quantity per plant, the cumulative defoliation quantity, etc.). When the counted defoliation quantity reaches the set tobacco leaf quantity, the multi-dimensional force sensor 1 can send a signal to the positioning drive device of the harvesting equipment to stop the defoliating action of moving up and down. The multi-dimensional force sensor 1 can also send a signal to the drive assembly 2, so that the moving sleeve assembly 8 axially moves away from the motor main body 21 under the action of the drive lead screw 22, and further makes the left defoliating knife assembly 6 and the right defoliating knife assembly 9 open outward to release the embracing action on the tobacco plant.

[0077] 6) After stopping defoliation and releasing the embrace of the defoliating knife assembly on the tobacco plant, the flexible harvesting device moves away from the tobacco stem under the action of the positioning drive device of the harvesting equipment, ending the harvesting process.

[0078] Compared with the prior art, the flexible harvesting device of the present invention has at least the following technical advantages:

[0079] 1) Through the micro pressure sensor on the defoliating knife assembly, the present invention can realize the automatic flexible defoliation of tobacco leaves during the tobacco harvesting process, greatly reducing the labor intensity during the tobacco leaf harvesting process, improving the operation quality, saving agricultural time, reducing labor consumption and saving production costs.

[0080] 2) The defoliating knife assembly of the present invention adjusts the specific clamping action and strength of the defoliating knife on the tobacco stem through the defoliating knife pressure signal detected in real time during the harvesting process. Thus, the present invention can achieve stable force for clamping the tobacco plant, will not cause damage to the tobacco stem due to excessive clamping force, nor will the gap between the left and right defoliating knife assemblies and the tobacco stem be too large due to insufficient clamping force, thereby causing incomplete defoliation. Moreover, the present invention can stably embrace tobacco stems of different thicknesses and has wide applicability.

[0081] 3) The present invention can achieve automatic counting of the number of defoliated leaves through this multi-dimensional force sensor. In particular, it can achieve one-time harvesting of a fixed number of tobacco leaves per plant, thereby adding a defoliation counting function to the basis of flexible defoliation of the present invention, as well as an automatic counting and harvesting function under the set number of defoliated leaves. Based on this, the present invention can realize functions such as automatic counting type flexible defoliation, quantity statistics of the harvested tobacco leaves, and quantity control of the tobacco leaves harvested at one time, further improving the harvesting work efficiency and automation level.

[0082] 4) The flexible harvesting device of the present invention can be applied to the harvesting of tobacco leaves of tobacco plants, but is not limited to tobacco. It can also be widely applied to the harvesting of leaves of other crops with similar plant forms.

[0083] Of course, the present invention can also have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes and deformations should all fall within the protection scope of the claims of the present invention.

Claims

1. A flexible harvesting device, characterized in that, Comprising: A driving component, which has a driving output end; A moving sleeve component, arranged at the driving output end, and the moving sleeve component can axially move at the driving output end under the action of the driving component; Two connecting rod components, respectively arranged on opposite sides of the moving sleeve component; and Two leaf stripping knife components, respectively connected to the moving sleeve component through the connecting rod components. Each leaf stripping knife component includes a leaf stripping knife and a micro pressure sensor connected to the leaf stripping knife. The micro pressure sensor is electrically connected to the driving component, and the leaf stripping knife component can realize the opening and closing actions of the leaf stripping knife along with the axial movement of the moving sleeve component.

2. The flexible harvesting device according to claim 1, characterized in that, The flexible harvesting device further includes a multi-dimensional force sensor, connected to the driving component, and the multi-dimensional force sensor can collect the force conditions during the leaf stripping process for the statistics of the number of single-plant leaf stripping and the cumulative number of leaf stripping.

3. The flexible harvesting device according to claim 1, characterized in that, The driving component includes a motor main body and a driving lead screw, and the moving sleeve component is sleeved and connected to the driving lead screw.

4. The flexible harvesting device according to claim 1, wherein, The moving sleeve component includes a moving sleeve seat and a moving sleeve. The moving sleeve is fixed in the moving sleeve seat, and the connecting rod components are respectively connected to both sides of the moving sleeve seat.

5. The flexible harvesting device according to claim 1, wherein Each connecting rod component includes a first connecting rod, a second connecting rod and at least one connecting plate. One side of the connecting plate is rotatably connected to one end of the first connecting rod, and the other side of the connecting plate is rotatably connected to one end of the second connecting rod. The other end of the first connecting rod is fixed to the driving component, the other end of the second connecting rod is rotatably connected to the moving sleeve component, and one end of the leaf stripping knife component is arranged on the connecting plate.

6. The flexible harvesting device according to claim 5, characterized in that, The flexible harvesting device further includes a fixed bottom plate, which is arranged on the driving component. The other end of the first connecting rod is connected to the driving component by being connected to the fixed bottom plate, and the two first connecting rods are respectively connected to both sides of the fixed bottom plate.

7. The flexible harvesting device according to claim 5, wherein The at least one connecting plate is two connecting plates, which are arranged up and down relatively, and one end of the leaf stripping knife component is arranged between the two connecting plates.

8. The flexible harvesting device according to claim 5, characterized in that, The micro pressure sensor is arranged on the connecting plate, and the leaf stripping knife is connected to the micro pressure sensor and located outside the connecting plate.

9. The flexible harvesting device according to claim 5 or 8, characterized in that, Each leaf stripping knife component further includes a sensor fixing plate, which is connected to the connecting plate, and the micro pressure sensor is connected to the connecting plate by being connected to the sensor fixing plate.

10. The flexible harvesting device according to claim 1 or 8, characterized in that, Each leaf stripping knife component further includes two guide blocks, which are respectively connected to both sides of the micro pressure sensor and extend below the leaf stripping knife to fix the leaf stripping knife.

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