Self-propelled small-sized cabbage harvesting integrated machine

Abstract

The application discloses a self-propelled small-sized Chinese cabbage harvesting integrated machine, and relates to the technical field of agricultural equipment. The self-propelled small-sized Chinese cabbage harvesting integrated machine comprises a frame, a clamping mechanism and a harvesting mechanism. The frame is provided with a bottom plate. A collecting box is arranged on the bottom plate. The collecting box forms a collecting cavity with an open top. The collecting cavity is used for collecting materials. The clamping mechanism comprises a first driver, a lifting device, a linear module, a connecting arm and two clamping plates. The first driver is drivingly connected with the lifting device. The connecting arm is threadedly connected with a screw rod of the lifting device. The connecting arm is provided with the linear module at an end away from the lifting device. The two sliders of the linear module are respectively provided with the two clamping plates. The harvesting mechanism comprises a second driver and a cutting knife. The second driver is arranged on the bottom plate. The cutting knife is drivingly connected with the second driver. Through the arrangement of the independent recycling mechanism and the cleaning mechanism, physical separation of waste materials and clean vegetables and real-time cleaning and drying of the cutting knife are realized.

Description

Technical Field

[0001] This invention relates to the technical field of self-propelled mini cabbage harvesting machine, and particularly to a self-propelled mini cabbage harvesting machine. Background Technology

[0002] Currently, the harvesting of leafy vegetables such as cabbage still relies heavily on manual labor or semi-mechanized equipment for the processes of pulling, cutting roots, and collecting. Existing harvesting devices typically use a fixed clamping structure with rotating blades for cutting. However, due to the lack of adaptive adjustment to plant height, the clamping position is difficult to precisely match the cabbage stems at different growth stages, easily resulting in either overly tight clamping that damages the cabbage or overly loose clamping that causes it to fall off. At the same time, the material transfer path and waste disposal path after cutting are not effectively separated, resulting in root and stem residue mixed in the collection chamber, affecting the quality of the cleaned vegetables. In addition, the cutting blades are prone to accumulating sap and soil during continuous operation, and the lack of a real-time cleaning and drying mechanism not only reduces cutting efficiency but may also lead to cross-infection of diseases. Summary of the Invention

[0003] The main objective of this invention is to propose a self-propelled small cabbage harvesting machine that integrates adjustable clamping height, precise root cutting position, high collection cleanliness, and self-cleaning blades.

[0004] To achieve the above objectives, the present invention proposes a self-propelled small-scale cabbage harvesting machine, comprising: A frame, on which a base plate is provided, and a collection box is provided on the base plate. The collection box forms a collection cavity with an opening at the top for collecting materials. The clamping mechanism includes a first driver, a lifting device, a linear module, a connecting arm, and two clamping plates. The first driver is driven to the lifting device. The connecting arm is threaded onto the screw of the lifting device. A linear module is provided at the end of the connecting arm away from the lifting device. Two clamping plates are respectively provided on the two sliders of the linear module. A harvesting mechanism includes a second driver and a cutting blade, wherein the second driver is disposed on the base plate and the cutting blade is drivenly connected to the second driver; The first driver drives the lifting device to rotate, thereby moving the object held by the clamping plate to above the opening of the collection chamber and cutting off its root by the cutting blade. The lifting device drives the clamping plate to move vertically to pull the material upward. The linear module drives the two clamping plates to move towards each other or away from each other to fix or release the material.

[0005] Preferably, the two clamping plates are arranged in an arc shape on opposite sides, and each of the two clamping plates is provided with a flexible pad on opposite sides.

[0006] Preferably, the base is provided with a safety baffle to surround the first driver, the collection box and the cutting blade.

[0007] Preferably, the bottom of the collecting chamber is provided with Velcro, and the adhesive side of the Velcro is facing the bottom wall of the collecting chamber.

[0008] Preferably, a height detection sensor is provided on the connecting arm, and a positioning detection sensor is provided on the base plate.

[0009] Preferably, a recycling mechanism is provided on the underside of the base plate, the recycling mechanism comprising: The recycling bin is slidably mounted on the underside of the base plate; The third actuator, connected to the recycling bin drive, propels the recycling bin to the outside of the base plate and then back to its initial position.

[0010] Preferably, the recycling bin is provided with a fourth actuator, which drives a push plate connected to it. The push plate is movably disposed inside the recycling bin to push the waste material toward the side closer to the cutting blade.

[0011] Preferably, a cleaning mechanism is provided on the base plate, the cleaning mechanism comprising: A water tank is mounted on the base plate; A liquid pump is connected to the water tank; A nozzle is connected to the liquid pump, and the nozzle orifice is positioned facing the cutting edge of the cutting blade. The fifth driver is mounted on the base plate and connected to the nozzle driver to drive the nozzle to rotate toward the clamping plate or the cutting blade.

[0012] Preferably, a fan is provided on the base, and a heating device is provided between the fan and the cutting blade.

[0013] Preferably, the vehicle frame is provided with a traveling mechanism, which includes a drive device and four omnidirectional wheels, and the drive device drives and connects the four omnidirectional wheels.

[0014] In the technical solution provided by this invention, the clamping plate can dynamically adjust its clamping height in the vertical direction and adaptively open and close in the horizontal direction through the linkage control of the lifting device and the linear module. This allows for precise adaptation to the stem size of cabbage at different growth stages, avoiding damage or detachment caused by clamping position deviation. The cutting action and clamping / lifting are tightly coupled in time and space, ensuring that the material falls directly and vertically into the collection chamber after the root is cut, reducing intermediate transfer links and lowering the risk of mechanical damage. At the same time, by setting up independent recycling and cleaning mechanisms, the physical separation of waste and clean vegetables and the real-time cleaning and drying of the blades are achieved, ensuring the cleanliness of the material in the collection chamber and the long-term stability of the equipment from the source. The whole machine adopts a self-propelled omnidirectional mobile chassis, which significantly improves the adaptability and automation level of operation in small-scale, complex terrain vegetable gardens. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 A perspective view of an embodiment of the self-propelled small cabbage harvesting machine provided by the present invention; Figure 2 for Figure 1 A front view of a self-propelled mini cabbage harvesting machine; Figure 3 for Figure 1 A partial structural diagram of the clamping mechanism; Figure 4 A schematic diagram of the structure of the recycling mechanism provided by the present invention; Figure 5 for Figure 3 A top-view cross-sectional diagram of the recycling mechanism; Figure 6 for Figure 1 A schematic diagram of the harvesting mechanism.

[0017] Explanation of icon numbers: 100. Self-propelled small cabbage harvesting machine; 1. Frame; 2. Base plate; 3. Collection box; 4. Harvesting mechanism; 41. Cutting blade; 42. Second drive; 43. Heating device; 44. Fan; 45. Safety baffle; 5. Clamping mechanism; 51. Connecting arm; 52. Linear module; 53. Clamping plate; 6. Walking mechanism; 7. Recycling mechanism; 71. Third drive; 72. Fourth drive; 73. Recycling box; 74. Push plate; 8. Cleaning mechanism; 81. Liquid pump; 82. Water tank; 83. Fifth drive; 84. Nozzle; The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0020] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0021] This invention provides a self-propelled small-sized cabbage harvesting machine. Figures 1 to 6 This is an embodiment of the self-propelled small cabbage harvesting machine provided by the present invention.

[0022] Please refer to the following: Figures 1 to 3The self-propelled small cabbage harvesting machine 100 includes a frame 1, a clamping mechanism 5, and a harvesting mechanism 4. The frame 1 has a base plate 2, and a collection box 3 is mounted on the base plate 2. The collection box 3 has a collection cavity with an opening at the top for collecting materials. The clamping mechanism 5 includes a first driver, a lifting device, a linear module 52, a connecting arm 51, and two clamping plates 53. The first driver is driven by the lifting device. The connecting arm is threaded onto the screw of the lifting device. The linear module 52 is located at the end of the connecting arm away from the lifting device. The two sliders of the linear module 52 are respectively... There are two clamping plates 53. The harvesting mechanism 4 includes a second driver 42 and a cutting blade 41. The second driver 42 is disposed on the base plate 2. The cutting blade 41 is driven to be connected to the second driver 42. The first driver drives the lifting device to rotate, so as to move the object held by the clamping plate 53 to above the opening of the collection chamber and cut off the root by the cutting blade 41. The lifting device drives the clamping plate 53 to move the object held in the vertical direction to pull the material upward. The linear module 52 drives the two clamping plates 53 to move in a direction that is closer to each other or further apart, so as to fix or release the material.

[0023] The frame 1 structure generally adopts a frame truss design, consisting of three parts: the front load-bearing frame, the middle crossbeam, and the rear handrail frame. It is formed using an integrated welding process to ensure the overall rigidity and connection strength of the structure. The flatbed truck's frame 1 is specifically designed as a rectangular closed-loop frame. This closed structure not only improves overall torsional resistance but also enhances load-bearing stability. To further strengthen the mechanical properties of the frame 1, multiple transverse reinforcing crossbeams and diagonal stiffeners are rationally arranged internally. These components cleverly utilize the natural stability of the triangular geometry to effectively distribute the load pressure borne by the vehicle during operation or work throughout the entire frame 1 system, thereby avoiding structural deformation or damage caused by localized stress concentration. In addition, high-strength sleeves are added at the wheel axle mounting locations for localized reinforcement to address potential bending or torsional deformation under heavy load conditions. On the basis of such a stable and reliable frame 1, a flat and sturdy base plate 2 is installed to form a horizontal work surface with strong load-bearing capacity. Then, a special collection box 3 is fixed on the work surface to efficiently receive and temporarily store the fresh cabbage picked from the field, which is convenient for subsequent transportation and processing.

[0024] In actual harvesting operations, the system first uses clamping mechanism 5 to pull up the entire plant of field vegetables (such as bok choy). The specific process is as follows: First, the lifting device is activated, driving the two clamping plates 53 to move vertically to a preset appropriate height, ensuring that the bok choy to be harvested is precisely located in the center area between the two clamping plates 53. It is especially important to note that for leafy vegetables like bok choy, the clamping height should be precisely aligned with the connection between the leaves and the leaf roots to ensure that the clamping force acts on the most stable area of ​​the plant, avoiding damage to the leaves or clamping failure. Then, the linear module 52 is activated, causing the clamping plates 53 on both sides to move towards the center synchronously and at a uniform speed until the stem of the bok choy is firmly clamped between the two plates, achieving reliable fixation. After clamping is completed, the lifting device is activated again, moving the clamping plates 53 and the clamped bok choy upwards together, using vertical lifting force to pull the roots of the vegetable completely out of the soil, thus achieving whole-plant harvesting without damage and completing the initial harvesting action.

[0025] After the entire plant is pulled up, the system immediately moves to the next step: the specially configured harvesting mechanism 4 completely removes any remaining fibrous roots from the cabbage. This process is accomplished by a high-speed rotating cutting blade 41 driven by a second driver 42, while the first driver starts simultaneously, causing the clamping plate 53 holding the cabbage to rotate upwards towards the space above the collection box 3. During the rotation, the clamping plate 53 carries the cabbage smoothly through the area of ​​the high-speed rotating cutting blade 41. Throughout this process, the cutting blade 41 maintains a constant rotation speed, while the first driver controls the clamping plate 53 to rotate at a matching speed. This coordinated action ensures a smooth, continuous, and clean cut, efficiently and accurately removing all the fibrous roots from the cabbage. The cut cabbage then falls into the collection box 3 below, ready for subsequent sorting, packaging, or transportation. The entire harvesting-pulling-cutting process achieves a high degree of automation and efficient collaboration.

[0026] Therefore, in the technical solution provided by the present invention, the first driver drives the lifting device to rotate, so as to move the object held by the clamping plate 53 to above the opening of the collection cavity, and cut off the root by the cutting blade 41. The lifting device drives the clamping plate 53 to move the object in the vertical direction to pull the material upward. The linear module 52 drives the two clamping plates 53 to move in a direction that is closer to or further away from each other to fix or release the material.

[0027] In order to hold the material more stably during clamping, the clamping plate 53 needs to be restricted to a certain extent.

[0028] Specifically, in the embodiments of the present invention, the two clamping plates 53 are arranged in an arc shape on opposite sides, and a flexible pad is provided on each of the two clamping plates 53 on opposite sides.

[0029] Both clamping plates 53 have curved sides that clamp the material, ensuring that the two clamping plates 53 can hold most of the material. In particular, the outer clamping area of ​​vegetables in the field is mostly curved, so the opposite side of the clamping plate 53 is curved to better fix the material. In addition, a flexible pad is set on the clamping surface to reduce damage to vegetables and other materials during the clamping process, and also to further increase the friction when clamping the material to prevent the material from falling off during the clamping process.

[0030] In one embodiment of the present invention, a safety baffle 45 is provided on the base to surround the first driver, the collection box 3 and the cutting blade 41.

[0031] A safety baffle 45 creates an independent physical isolation zone, effectively separating the high-speed moving parts from the external operating space and the internal clean collection area. The safety baffle 45 is usually made of metal sheet or high-strength engineering plastic, and its shape is adapted to the spatial layout of the first drive, collection box 3 and cutting blade 41, forming a semi-enclosed or fully enclosed protective barrier. From an ergonomic perspective, the baffle can prevent operators from accidentally touching the rotating cutting blade 41 or the lifting screw during equipment operation, significantly reducing the risk of work-related injuries. From the perspective of equipment maintenance and work quality, the baffle can effectively block root and stem debris and soil particles generated during the cutting process from splashing in all directions, which not only prevents foreign objects from entering the precision transmission units such as the first drive and causing wear or jamming, but also prevents waste from mixing into the collection box 3 and contaminating the clean vegetables.

[0032] In another embodiment of the present invention, a Velcro fastener is provided at the bottom of the collecting cavity, and the adhesive surface of the Velcro fastener is disposed facing the bottom wall of the collecting cavity.

[0033] "Adhesive side facing the bottom wall of the collection chamber" means that the hook and loop fastener is fixed to the bottom wall of the collection chamber, while the opposite side (usually the looped or smooth side) serves as the bearing surface that directly contacts the cabbage. The purpose is to utilize the thickness and fiber structure of the fastener to create a removable, flexible buffer. When the cabbage is released from the clamping plate 53 and falls vertically into the collection chamber, the bottom fastener absorbs the impact energy through the compression and deformation of the microfibers, preventing damage to the cabbage from the hard bottom of the chamber. Simultaneously, the looped side has excellent capillary action, effectively absorbing any small amount of juice seeping from the cabbage's cut surfaces, preventing juice accumulation at the bottom of the chamber from causing the cabbage to rot or breed bacteria. More importantly, the reusable nature of the fastener allows this buffer layer to be quickly removed for cleaning or replacement without tools. Compared to traditional fixed rubber or sponge pads, this greatly simplifies the daily cleaning process and ensures food hygiene and safety during long-term operation. For example, when continuously harvesting cabbage varieties with high water content, operators can directly peel off the Velcro for rinsing and drying after each shift, without having to perform tedious deep cleaning on the collection box 3 itself, significantly improving operation and maintenance efficiency.

[0034] In another embodiment of the present invention, a height detection sensor is provided on the connecting arm 51, and a positioning detection sensor is provided on the base plate 2.

[0035] A height detection sensor is installed on the side wall or end of the connecting arm 51, with its detection direction facing the motion axis of the lifting device or the ground reference plane. It is used to acquire real-time absolute position or relative displacement data of the clamping plate 53 in the vertical direction. Before harvesting or during breaks, due to individual differences in the growth height of cabbages in the field, relying solely on fixed stroke parameters to drive the first actuator can easily lead to the clamping plate 53 pressing down too deeply, damaging the cabbage, or being positioned too high, failing to effectively clamp the stem. By introducing a height detection sensor, the control system can read the height value in real time as the clamping plate 53 descends and approaches the target. When the clamping plate 53 is detected to have reached the preset optimal clamping height range, it immediately triggers braking and starts the linear module 52 to perform the clamping action. This dynamic calibration mechanism allows the equipment to automatically adapt to cabbages of different heights and growth stages, eliminating the need for frequent manual adjustments to mechanical limits or modifications to the control program, significantly improving the equipment's field adaptability and operational continuity. It should be understood that although the height detection sensor in this embodiment is preferably a non-contact laser rangefinder or ultrasonic sensor to avoid mechanical wear, in other embodiments, a rotary encoder mounted on the end of the screw, a linear grating ruler arranged along the guide rail, or even a depth camera based on machine vision can also be used, as long as it can provide the controller with an electrical signal characterizing the vertical position of the clamping plate 53.

[0036] Please refer to the following: Figures 4 to 5In another embodiment of the present invention, a recycling mechanism 7 is provided on the lower side of the base plate 2. The recycling mechanism 7 includes a recycling bin 73 and a third driver 71. The recycling bin 73 is slidably disposed on the lower side of the base plate 2. The third driver 71 is drivenly connected to the recycling bin 73 to push the recycling bin 73 to move to the outside of the base plate 2 and then return to the initial position.

[0037] The recycling bin 73 is located below the base plate 2, forming a layered layout vertically with the collection bin 3 located above the base plate 2. The two are physically separated by the base plate 2, with controlled communication only at the material drop outlet below the cutting blade 41. This physical isolation mechanism ensures that waste materials such as roots and soil generated during cutting can only fall into the recycling bin 73 below by gravity, and there is absolutely no possibility of them bouncing or splashing into the collection bin 3 above, thus guaranteeing the cleanliness of the vegetables from the source. The third drive 71 is preferably an electric push rod, cylinder, or rack and pinion mechanism, which is installed on the lower surface of the base plate 2 or the side of the frame 1, and its output end is fixedly connected to the recycling bin 73. When the recycling bin 73 is full of waste or when the operation is finished, the control system commands the third drive 71 to actuate, pushing the recycling bin 73 horizontally out of the frame 1 along a preset slide rail or guide groove. This allows operators to directly pull out and empty the bin or replace it with a spare, without having to bend over and reach into the bottom of the equipment for cleaning, significantly improving the ergonomics and maintenance efficiency. It should be understood that although the recycling bin 73 adopts a horizontal sliding extraction method in this embodiment, in other embodiments, it can also be designed as a bottom-discharge structure that flips down around the hinge to open, or a liftable lifting platform can be used to drive the recycling bin 73 to descend and detach, as long as it can achieve a removable connection between the waste container and the frame.

[0038] Furthermore, a fourth actuator 72 is provided on the recycling bin 73, and the fourth actuator 72 drives a pusher plate 74 connected to it. The pusher plate 74 is movably disposed inside the recycling bin 73 to push the waste material toward the side closer to the cutting blade 41.

[0039] In actual harvesting operations, due to the relatively fixed position of the cutting blade 41, the cut root and stem waste often concentrates in the local area directly below the cutting blade 41 within the recycling bin 73, easily forming a cone-shaped accumulation. If not intervened in time, the accumulation height will quickly reach the discharge port or even jam the cutting blade 41, forcing the equipment to stop for cleaning, seriously affecting the continuity of operations. This embodiment effectively solves this problem by introducing an active pusher plate 74 collection mechanism. Specifically, the fourth actuator 72 can be a micro linear motor, a waterproof servo cylinder, or a pneumatic slide, which is installed at the end of the recycling bin 73 away from the cutting blade 41 or on the side wall, driving the pusher plate 74 to perform reciprocating linear motion within the bin. When the sensor detects that the waste accumulation reaches a preset threshold, or according to a preset time interval, the fourth actuator 72 activates the pusher plate 74 to advance downwards from the cutting blade 41, forcibly flattening the accumulated waste and pushing it deeper or further into the bin, thereby making full use of the overall volume of the recycling bin 73 and avoiding premature local overflow. For example, in a continuous high-intensity harvesting scenario, the push plate 74 can be set to perform a collection action after each cutting cycle is completed, and its stroke covers the projection area of ​​the cutting blade 41 and the storage area behind it, ensuring that the material drop channel is always unobstructed.

[0040] Please refer to the following: Figure 6 In another embodiment of the present invention, a cleaning mechanism 8 is provided on the base plate 2. The cleaning mechanism 8 includes a water tank 82, a liquid pump 81, a nozzle 84, and a fifth driver 83. The water tank 82 is provided on the base plate 2. The liquid pump 81 is connected to the water tank 82. The nozzle 84 is connected to the liquid pump 81. The nozzle of the nozzle 84 is positioned toward the blade of the cutting blade 41. The fifth driver 83 is provided on the base plate 2 and is driven to the nozzle 84 to rotate the nozzle of the nozzle 84 toward the clamping plate 53 or the cutting blade 41.

[0041] The water tank 82 is typically made of corrosion-resistant food-grade stainless steel or engineering plastic and is fixed to the side of the base plate 2 away from the collection tank 3 to avoid vibration interference. Its volume is designed according to the continuous operation time, for example, it can hold several liters of clean water or diluted disinfectant. The liquid pump 81 is preferably a miniature diaphragm pump or gear pump, which pressurizes and delivers the liquid in the water tank 82 to the nozzle 84 through a hose. The nozzle 84 can be a fan-shaped nozzle or a conical solid nozzle, and its initial mounting axis is aligned with the cutting edge area of ​​the cutting blade 41 to ensure that the high-pressure water flow can effectively wash away plant juice, mud, and fiber residue adhering to the blade. The fifth drive 83 is typically a waterproof servo motor or stepper motor, and its output shaft is connected to the nozzle 84 bracket, allowing the nozzle 84 to reciprocate within a preset angle range. For example, when the equipment is in a cutting operation interval or after completing a harvesting cycle, the control system instructs the fifth actuator 83 to operate, first aligning the nozzle 84 with the cutting blade 41 for a high-pressure rinse of several seconds to tens of seconds, then rotating it by several degrees to tens of degrees to align it with the arc-shaped inner surface of the clamping plate 53 and the flexible pad for a spray cleaning of several seconds to tens of seconds, and finally returning it to the initial position. This dynamic switching mechanism solves the problem that a single fixed nozzle 84 cannot simultaneously cover two key working surfaces: if only the cutting blade 41 is cleaned, the residual juice on the clamping plate 53 will contaminate the new cabbage or reduce the coefficient of friction, causing slippage during subsequent clamping; if only the clamping plate 53 is cleaned, the risk of blade dulling and cross-contamination will increase. It should be understood that although the nozzle 84 adopts a single-axis rotation switching method in this embodiment, in other embodiments, dual nozzles 84 can be set to independently point to the cutting blade 41 and the clamping plate 53 respectively, and the water path can be switched by a solenoid valve, or a universal joint structure can be used to achieve free pointing adjustment in three-dimensional space, as long as it can effectively rinse the two target surfaces as needed.

[0042] In order to maintain the clean and dry state of the clamping interface, in an embodiment of the present invention, a fan 44 is provided on the base, and a heating device 43 is provided between the fan 44 and the cutting blade 41.

[0043] The blower 44 can be a centrifugal blower or an axial fan, installed above or to the side of the base plate 2. Its outlet is directionally guided to the area where the cutting blade 41 is located through an air guide shroud or duct. The heating device 43 is located in the airflow path between the blower 44 outlet and the cutting blade 41, and is used to instantly heat the air flowing through it. The heating device 43 is preferably a PTC ceramic heater or a nickel-chromium alloy heating wire assembly, which has the characteristics of rapid heating, low thermal inertia, and high safety, and can raise the airflow temperature to the range of 40°C to 70°C. After the cleaning mechanism 8 completes the water spray rinsing, the control system automatically starts the blower 44 and the heating device 43, and the hot air continuously blows on the surface of the cutting blade 41 and the clamping plate 53 for 10 to 20 seconds to accelerate the evaporation of residual moisture. This drying step has multiple technical benefits: First, it prevents the metal cutting blade 41 from rusting and corroding due to prolonged moisture, extending its service life. Second, it inhibits the growth and reproduction of bacteria and mold on the blade and clamping surface in a humid environment, ensuring food hygiene and safety. Third, the hot air can soften and peel off slightly adhered organic film, helping to improve the thoroughness of cleaning. Fourth, the flexible pad of the clamping plate 53 recovers its optimal friction performance after drying, avoiding the weakening of clamping force caused by the surface water film. It should be understood that although the heating device 43 adopts electric heating in this embodiment, in other embodiments, the waste heat of the second driver 42 or other power sources can be used to preheat the air through a heat exchanger, or an infrared radiation heating element can be used to directly irradiate the blade surface, as long as the moisture can be removed in time after cleaning. In addition, the start and stop of the fan 44 and the heating device 43 can be linked with the rotation of the fifth driver 83. For example, when the nozzle 84 turns to the clamping plate 53, the hot air is turned on simultaneously to achieve partial overlap of cleaning and drying to improve efficiency, but it is necessary to ensure that electrical safety and waterproof rating meet the requirements.

[0044] In the technical solution of the present invention, a walking mechanism 6 is provided inside the frame 1. The walking mechanism 6 includes a driving device and four universal wheels, and the driving device drives and connects the four universal wheels.

[0045] The drive system preferably adopts a four-wheel independent drive architecture, meaning each omnidirectional wheel is equipped with an independent power source and transmission unit. For example, an integrated hub motor can be used to directly drive the wheel rotation, or a servo motor can be used in conjunction with a micro planetary reducer to drive the wheel axle through a coupling. This distributed drive method eliminates the complex central gearbox, drive shaft, and differential structure, which not only significantly reduces the chassis height and the overall center of gravity, improving driving stability on soft soil, but also provides the hardware foundation for decoupled control of the speed and steering of each wheel.

[0046] In cabbage harvesting, field furrows are typically narrow with limited turning space. Traditional front-wheel steering vehicles often require multiple reversing adjustments to align with the next row of crops, easily damaging plants along the ridges or compacting the soil. In this embodiment, the omnidirectional wheels, combined with independent drive control, allow the machine to slide directly laterally into the working position between ridges without changing its orientation, or to change direction on the spot to enter adjacent ridges, significantly reducing idle travel distance and mechanical disturbance to the field during non-operational times. Simultaneously, the omnidirectional wheels possess high multi-degree-of-freedom deflection capabilities, offering greater adaptability to uneven ground compared to directional wheels or pneumatic tires. They automatically adjust their rolling direction when crossing furrow edges or uneven soil clods, preventing jamming or severe bumps that could affect the operational accuracy of the upper clamping mechanism 5 and the harvesting mechanism 4. Furthermore, the traveling mechanism 6 is not simply superimposed on the harvesting module as a universal chassis, but is deeply integrated with the frame 1. The upper surface of the base plate 2 of the frame 1 serves as a unified mounting reference surface for the collection box 3, clamping mechanism 5, and harvesting mechanism 4, while the lower surface is reserved with mounting flange positions for the casters and wiring channels for the drive unit. This allows power cables and control signal lines to be routed inside the frame 1, avoiding the risk of external pipelines being entangled in branches or eroded by mud and water during field operations, while also ensuring the compactness and protection level of the overall machine structure. For example, in open-field cabbage fields with row spacing of only centimeters, the width of the machine can be controlled within centimeters. Relying on the lateral translation capability of the casters, it can accurately center itself and drive into the rows without the need for manual assistance to straighten or repeatedly adjust the direction, truly realizing unmanned continuous harvesting operations in narrow spaces.

[0047] When the equipment reaches the edge of the field and needs to move to the next row, the drive unit controls the four omnidirectional wheels to rotate 90 degrees synchronously in the same direction. This allows the entire machine to slide directly into the 30cm-wide inter-row passage in a lateral translation mode without changing the longitudinal axis of the vehicle. Compared to traditional front-wheel steering vehicles that require at least 1 meter of turning radius or repeated reversing to adjust posture at the edge of the row, this omnidirectional mobility allows the equipment to seamlessly connect adjacent rows, significantly reducing the idle distance during non-operational time and completely avoiding the risk of crushing crops on the edge of the row or damaging the field ridges due to excessive turning radius. At the same time, the omnidirectional wheels can adaptively cross soil clods and uneven areas at the edge of the furrow during movement, maintaining the relative stability of the upper frame 1, providing a stable moving benchmark for subsequent precise harvesting.

[0048] Once the harvesting cycle begins, each functional module works in close coordination according to a preset sequence. First, the height sensor mounted on the connecting arm 51 scans the position of the cabbage stem in real time. The control system dynamically adjusts the output stroke of the first driver based on the feedback data, ensuring that the clamping plate 53 descends precisely to the optimal clamping height range, preventing it from falling off due to excessively high clamping or damaging the cabbage due to excessively low clamping. Subsequently, the linear module 52 drives two arc-shaped clamping plates 53 with flexible pads to approach each other, firmly clamping the cabbage stem in an enveloping, flexible grip. This ensures sufficient friction to prevent slippage during lifting and protects the integrity of the outer skin through a stress dispersion mechanism. Next, the lifting device lifts the clamping plate 53 and the cabbage vertically upwards a preset distance, freeing the roots from the soil and placing them in a taut state. In this state, the second driver 42 drives the cutting blade 41 to rotate at high speed to cut the roots, ensuring a clean cut and consistent root length. After cutting, the clamping plate 53 carries the cleaned cabbage horizontally to the top of the opening of the collection box 3 and releases it, allowing the cabbage to fall vertically into the cavity under gravity. At this time, the Velcro at the bottom of the collection cavity absorbs the impact energy of the fall through fiber compression deformation and uses the loop surface to absorb the small amount of juice seeping from the cut, effectively preventing material damage from impact and juice accumulation and rotting. At the same time, the cut root waste passes through the discharge port of the bottom plate 2 by gravity and directly enters the recycling box 73 located on the lower side of the bottom plate 2; the fourth actuator 72 periodically drives the push plate 74 to push the waste accumulated below the discharge port into the depth of the box, preventing local blockage and ensuring that the waste collection path is always unobstructed, achieving complete separation of cleaned vegetables and waste in space and time.

[0049] During breaks in continuous operation or short pauses after harvesting a single row, the cleaning mechanism 8 and hot air drying device automatically activate to maintain equipment performance. The fifth drive 83 rotates the nozzle 84 to change its direction, first performing high-pressure rinsing on the cutting blade 41 to remove adhering juice and mud, then turning to spray cleaning the inner surface of the clamping plate 53; subsequently, the fan 44 and heating device 43 work together to blow hot air at 40°C to 70°C onto the blade and clamping surface to accelerate the evaporation of residual moisture. This "wet cleaning-drying" process not only prevents blade corrosion and cross-contamination of bacteria, but also ensures that the surface of the flexible pad recovers its optimal coefficient of friction, preparing it for the next round of high-precision clamping and cutting. The entire maintenance process requires no manual intervention and does not occupy effective working time, ensuring the stability of long-term continuous operation.

[0050] When the waste in the recycling bin 73 is full or the day's work is finished, the third drive 71 automatically pushes the recycling bin 73 along the slide rail to the outside of the frame 1. The operator can directly pull out and empty the bin or replace it with a spare bin without having to bend over and reach under the equipment to clean it, greatly improving the ergonomic experience. Throughout the operation, the arrival detection sensor continuously monitors whether the material has successfully fallen into the collection chamber. Once an abnormality is detected, an alarm is triggered or the re-clamping logic is executed, forming a complete closed-loop quality control system. Through the organic collaboration of the above subsystems in narrow field scenarios, this invention not only verifies its high adaptability and reliability in complex field environments, but also demonstrates from a practical perspective the significant technical advantages of integrated design in improving harvesting efficiency, ensuring the quality of clean vegetables, and reducing labor intensity.

[0051] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made under the concept of the present invention using the description and drawings of the present invention, or direct / indirect applications to other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A self-propelled small-sized cabbage harvesting machine, characterized in that, include: A frame, on which a base plate is provided, and a collection box is provided on the base plate. The collection box forms a collection cavity with an opening at the top for collecting materials. The clamping mechanism includes a first driver, a lifting device, a linear module, a connecting arm, and two clamping plates. The first driver is driven to the lifting device. The connecting arm is threaded onto the screw of the lifting device. A linear module is provided at the end of the connecting arm away from the lifting device. Two clamping plates are respectively provided on the two sliders of the linear module. A harvesting mechanism includes a second driver and a cutting blade, wherein the second driver is disposed on the base plate and the cutting blade is drivenly connected to the second driver; The first driver drives the lifting device to rotate, thereby moving the object held by the clamping plate to above the opening of the collection chamber and cutting off its root by the cutting blade. The lifting device drives the clamping plate to move vertically to pull the material upward. The linear module drives the two clamping plates to move towards each other or away from each other to fix or release the material.

2. The self-propelled small cabbage harvesting machine as described in claim 1, characterized in that, The two clamping plates are arranged in an arc shape on opposite sides, and each of the two clamping plates is provided with a flexible pad on opposite sides.

3. The self-propelled small cabbage harvesting machine as described in claim 1, characterized in that, The base is equipped with a safety baffle to surround the first driver, the collection box and the cutting blade.

4. The self-propelled small cabbage harvesting machine as described in claim 1, characterized in that, The bottom of the collection chamber is provided with Velcro, and the adhesive side of the Velcro is facing the bottom wall of the collection chamber.

5. The self-propelled small cabbage harvesting machine as described in claim 1, characterized in that, A height detection sensor is installed on the connecting arm, and a positioning detection sensor is installed on the base plate.

6. The self-propelled small cabbage harvesting machine as described in claim 1, characterized in that, A recycling mechanism is provided on the underside of the base plate, the recycling mechanism including: The recycling bin is slidably mounted on the underside of the base plate; The third actuator, connected to the recycling bin drive, propels the recycling bin to the outside of the base plate and then back to its initial position.

7. The self-propelled small cabbage harvesting machine as described in claim 6, characterized in that, The recycling bin is equipped with a fourth actuator, which drives a push plate connected to it. The push plate is movably disposed inside the recycling bin to push the waste material toward the side closer to the cutting blade.

8. The self-propelled small cabbage harvesting machine as described in claim 1, characterized in that, A cleaning mechanism is provided on the base plate, and the cleaning mechanism includes: A water tank is mounted on the base plate; A liquid pump is connected to the water tank; A nozzle is connected to the liquid pump, and the nozzle orifice is positioned facing the cutting edge of the cutting blade. The fifth driver is mounted on the base plate and connected to the nozzle driver to drive the nozzle to rotate toward the clamping plate or the cutting blade.

9. The self-propelled small cabbage harvesting machine as described in claim 1, characterized in that, A fan is installed on the base, and a heating device is installed between the fan and the cutting blade.

10. The self-propelled small cabbage harvesting machine as described in claim 1, characterized in that, The vehicle frame is equipped with a traveling mechanism, which includes a drive unit and four omnidirectional wheels. The drive unit drives and connects the four omnidirectional wheels.

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