Leafy vegetable harvesting and bundling integrated machine

Abstract

The application discloses a leaf vegetable harvesting and bundling integrated machine, which comprises a caterpillar chassis and a harvesting mechanism, a first conveying mechanism, a second conveying mechanism, a bundling mechanism, a transfer box, a gripper conveying mechanism, a collecting basket and a guide rail. The first conveying mechanism converts the harvested leaf vegetables from a vertical posture to a horizontal posture and sends the leaf vegetables into the transfer box by the second conveying mechanism; the transfer box is provided with a partition plate with a weight sensor and can realize quantitative discharging by intermittent rotation; the gripper conveying mechanism is slidingly installed on the guide rail and comprises a first arc-shaped supporting claw, a second arc-shaped supporting claw and a matched arc-shaped pressing claw which are arranged at intervals to form an avoiding gap; the gripper conveying mechanism translates to the bundling position after clamping the quantitative leaf vegetables at the initial material receiving position, the bundling line passes through the avoiding gap to complete the bundling, and the bundled leaf vegetables are unloaded into the collecting basket after the supporting claw is reset and turned over. The application realizes efficient connection of continuous harvesting and precise quantitative bundling, eliminates the mechanical interference of clamping and bundling, has high automation degree and does not damage the leaf vegetables.

Description

Technical Field

[0001] This invention relates to an integrated harvesting and bundling machine for leafy vegetables, belonging to the field of agricultural machinery technology. Background Technology

[0002] With the advancement of modern agricultural mechanization and intelligent technologies, large-scale mechanized harvesting and post-harvest primary processing equipment for leafy vegetables (such as rapeseed, spinach, and lettuce) has been widely applied. In actual commercial production, harvested leafy vegetables usually need to be quantitatively bundled, tied, and packed into baskets according to fixed specifications (such as 500g / bundle or 1kg / bundle) to facilitate preservation, storage, transportation, and direct sale in the end market.

[0003] Most leafy vegetable harvesting equipment on the market can only complete the cutting and initial conveying in the field. Subsequent quantitative weighing, sizing and bundling still rely heavily on manual secondary processing in the field, which is not only labor-intensive and inefficient, but also has obvious errors in manual weight estimation.

[0004] According to the applicant, some harvesters on the market have attempted to integrate tying functions, but these existing harvesters have the following technical defects in practical applications: 1) The feeding of the front-end harvesting mechanism of the existing harvester is a continuous material flow, while the subsequent bundling operation is a discrete periodic action with a fixed weight. It lacks a compact and efficient buffer indexing mechanism, making it difficult to achieve accurate single-bundle weight weighing and stable quantitative feeding during continuous feeding.

[0005] 2) Because leafy vegetables are tender and have a fluffy canopy, they need to be clamped with appropriate force before being fed into the bundling station to form a neat bunch. However, conventional clamping mechanisms often completely cover the vegetable body, which cannot provide a reliable working channel for the wire feeding components and knotting needles of the bundling machine; if too large a gap is left, the bunch will become loose and deformed, affecting the bundling quality or even damaging the leaves.

[0006] 3) If the bundled leafy vegetables are dropped directly after being bundled, it is very easy to cause mechanical damage to the vegetables or loosening of the binding straps. The overall space utilization rate of the machine is low and it is difficult to achieve continuous automated discharge. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a leafy vegetable harvesting and bundling integrated machine that can improve the efficiency of leafy vegetable harvesting and bundling operations and reduce labor costs. It can realize continuous harvesting of leafy vegetables, regular posture, precise graded weighing, tight and avoidance conveying, automatic bundling, and stable flipping into baskets.

[0008] To solve the above-mentioned technical problems, the present invention proposes a leafy vegetable harvesting and bundling integrated machine, including a tracked chassis and a harvesting mechanism, a first conveying mechanism, a second conveying mechanism, a transfer box, a gripper conveying mechanism, a collection basket, a guide rail and a bundling mechanism mounted on the tracked chassis. The first conveying mechanism is used to receive the leafy vegetables cut by the harvesting mechanism and to change the leafy vegetables from an upright position to a horizontal position during the conveying process. The second conveying mechanism is used to convey the horizontally placed leafy vegetables backward and upward. The transfer box is located below the discharge end of the second conveying mechanism. The transfer box is equipped with a rotating shaft and partitions spaced circumferentially along the rotating shaft. The partitions extend axially along the rotating shaft to receive leafy vegetables falling from the second conveying mechanism. The partitions are equipped with weight sensors for weighing the leafy vegetables on the partitions and can be rotated intermittently to discharge the quantitatively weighed leafy vegetables downwards. The gripper conveying mechanism includes a first arc-shaped claw, an arc-shaped clamping claw, and a second arc-shaped claw that cooperate with each other, as well as a clamping drive for driving the arc-shaped clamping claw to open and close, a flipping drive for driving the first and second arc-shaped claws to flip and unload, and a translation drive for driving the gripper conveying mechanism to reciprocate linearly along the guide rail; the first and second arc-shaped claws are arranged at intervals along the direction of leafy vegetable placement to form a clearance gap, and the arc-shaped clamping claw can open or close relative to the first and second arc-shaped claws; the gripper conveying mechanism is slidably mounted on the guide rail and has an initial receiving station located below the transfer box and a binding station that cooperates with the binding mechanism; When the gripper conveyor is in the initial receiving position, the arc-shaped clamping claws open to receive a fixed amount of leafy vegetables discharged from the transfer box, and then the arc-shaped clamping claws close to clamp the leafy vegetables. When the gripper conveyor is in the bundling position, the bundling wires of the bundling mechanism pass through the clearance gap to bundle the leafy vegetables. After bundling is completed, the gripper conveyor returns to the initial receiving position, the arc-shaped clamping claws open, and the bundled leafy vegetables are unloaded into the collection basket by flipping the first arc-shaped support claw and the second arc-shaped support claw.

[0009] The beneficial effects of this invention are as follows: 1) This application enables online quantitative weighing and rotary quantitative unloading of continuously conveyed leafy vegetables by setting an axial partition with a weight sensor and an intermittent rotating structure in the transfer box. This solves the material buffer matching problem between continuous harvesting and feeding and discrete bundling, and ensures that the specifications of each bundle of leafy vegetables are uniform, eliminating the need for manual secondary weighing and improving production efficiency.

[0010] 2) In this application, the gripper conveying mechanism adopts a first arc-shaped claw, a second arc-shaped claw, and an arc-shaped clamping claw working together. This not only enables the loose leafy vegetables to be clamped into bundles in a ring-like manner to prevent them from scattering and losing their shape during the conveying process, but also provides a dedicated threading channel for the binding mechanism by the avoidance gap formed between the two claws, realizing a non-interference collaborative operation of compact clamping and threading binding.

[0011] 3) The gripper conveyor mechanism in this application integrates clamping, guide rail translation and positioning, reset and flipping unloading functions. It can quickly switch back and forth between the initial receiving station and the bundling station, with high space utilization and good automation. After bundling, the vegetable bundles are smoothly unloaded into the collection basket below by the active flipping of the two claws, avoiding mechanical damage to the vegetables and loosening of the bundling caused by the direct drop of the finished product, and effectively ensuring the commercial appearance quality of the bundled leafy vegetables. Attached Figure Description

[0012] The invention will now be further described with reference to the accompanying drawings.

[0013] Figure 1 This is one of the structural schematic diagrams of an embodiment of the present invention.

[0014] Figure 2 This is the second structural schematic diagram of an embodiment of the present invention.

[0015] Figure 3 This is a structural diagram of the transfer box, the gripper conveying mechanism, and the strapping mechanism.

[0016] Figure 4 This is a schematic diagram of the cooperative structure of the gripper conveying mechanism and the binding mechanism.

[0017] In the diagram: 1. Tracked chassis; 2. Harvesting mechanism; 3. First conveying mechanism; 4. Second conveying mechanism; 5. Transfer box; 6. Grab conveying mechanism; 7. Collection basket; 8. Bundling mechanism; 9. Guide rail; 20. Rice lifter; 51. Partition plate; 61. First arc-shaped support claw; 62. Arc-shaped clamping claw; 63. Second arc-shaped support claw. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] like Figures 1 to 4As shown, this embodiment provides a leafy vegetable harvesting and bundling integrated machine. The machine frame is rigidly fixed on a tracked chassis (1), which is responsible for bearing the entire machine and providing driving force for movement in the field. The front of the frame is arranged from bottom to top with a harvesting mechanism (2), a first conveying mechanism (3), and a second conveying mechanism (4); the rear of the frame is arranged from top to bottom with a transfer box (5), a gripper conveying mechanism (6), a bundling mechanism (8), a guide rail (9), and a collection basket (7).

[0020] The harvesting mechanism (2) is fixed to the front bottom of the tracked chassis (1) by a mounting bracket. Its moving blade and fixed blade work together to reciprocate and cut the roots of the leafy vegetables close to the ground. The first conveying mechanism (3) is inclined upwards, with its bottom feed end facing the cutting outlet of the harvesting mechanism (2) and its top discharge end extending above the second conveying mechanism (4). The first conveying mechanism (3) uses a clamping flexible belt to clamp and lift the upright leafy vegetables cut by the harvesting mechanism (2) upwards. During the lifting process, the belt twists to change the leafy vegetables from an upright position to a horizontal position for discharge. The second conveying mechanism (4) is installed below the discharge end of the first conveying mechanism (3) and is an inclined conveying surface extending backwards and upwards. It is used to receive the horizontally laid leafy vegetables and transport them smoothly backwards and upwards.

[0021] The transfer box (5) is bolted to the top of the frame and located directly below the discharge end of the second conveying mechanism (4). A rotating shaft is horizontally mounted inside the transfer box (5), and several partitions (51) are uniformly fixed along the circumference of the rotating shaft. The partitions (51) extend horizontally along the axial direction of the rotating shaft to receive the horizontally lying leafy vegetables thrown from the second conveying mechanism (4). Each partition (51) has a weight sensor embedded or screwed onto its receiving surface to collect the weight signal of the leafy vegetables falling on that partition (51) in real time and transmit it to the onboard controller. The rotating shaft is driven by an indexing drive mechanism and can perform intermittent step rotation according to the weighing signal, thereby discharging the preset weight of leafy vegetables downwards from the discharge port at the bottom of the transfer box (5).

[0022] The guide rail (9) is rigidly fixed horizontally to the rear side of the frame, below the transfer box (5). The gripper conveying mechanism (6) is slidably mounted on the guide rail (9) via a slider. The gripper conveying mechanism (6) consists of a first arc-shaped claw (61), an arc-shaped clamping claw (62), a second arc-shaped claw (63), a clamping drive, a flipping drive, and a translation drive. The first arc-shaped claw (61) and the second arc-shaped claw (63) are arranged coaxially at intervals with their openings facing upwards, forming a clearance gap between them for bundling and threading. The arc-shaped clamping claw (62) is movably hinged to a rotating shaft on one side of the claw. The clamping drive is connected to the arc-shaped clamping claw (62) for driving the arc-shaped clamping claw (62) to perform downward closing and clamping or upward opening and resetting actions relative to the first arc-shaped claw (61) and the second arc-shaped claw (63). The flipping drive is connected to the rotating support shaft of the first arc-shaped claw (61) and the second arc-shaped claw (63) for driving the two claws to flip downwards along the axial direction to perform unloading. The translation drive is connected to a slide table mounted on the guide rail (9) for driving the entire gripper conveying mechanism (6) to move back and forth in a straight line along the guide rail (9) between the initial receiving station and the bundling station. The initial receiving station is directly below the discharge port of the transfer box (5), and the binding station is located on one side of the guide rail (9) and corresponds to the worktable of the binding mechanism (8).

[0023] The strapping mechanism (8) is fixed at the strapping station on one side of the frame. The strapping mechanism (8) is existing technology, such as... Figure 3 and Figure 4 As shown, this embodiment adopts an elastic rope cable tie machine structure, including a worktable, a rope feeding swing arm, a knotting beak, a clamping beak, and a cutting cam assembly. The collection basket (7) is installed in the rear frame of the tracked chassis (1), and the opening of the collection basket (7) faces upward directly below the gripper conveyor mechanism (6) when it is in the initial receiving position. In addition to using the cam-driven elastic rope cable tie machine shown in the attached figure, the binding mechanism (8) can also be replaced by a plastic cable tie machine, a hot melt adhesive tape binding machine, a paper tape knotting machine, or a self-locking sealing machine; its threading / feeding method can be a telescopic threading ring or a robotic arm feeding, in addition to the swing arm rotating to feed the rope.

[0024] The working principle of this embodiment is as follows: During the movement of the whole machine, the harvesting mechanism (2) cuts the leafy vegetables, the first conveying mechanism (3) clamps and twists the leafy vegetables into a horizontal position and then discharges them into the second conveying mechanism (4); the second conveying mechanism (4) continuously feeds the leafy vegetables into the upper partition (51) of the transfer box (5). When the weight sensor on the partition (51) detects that the weight of the vegetables has reached the preset value, the controller controls the transfer box (5) to rotate and discharge a quantitative amount of leafy vegetables into the gripper conveying mechanism (6) which is in the initial receiving position and the arc-shaped clamping claw (62) is in the open state. Subsequently, the clamping drive drives the arc-shaped clamping claw (62) to close downwards, compressing the loose leafy vegetables into a compact bundle; the translation drive drives the gripper conveyor mechanism (6) to move laterally along the guide rail (9) to the bundling station of the bundling mechanism (8); the rope feeding swing arm of the bundling mechanism (8) drives the elastic rope through the clearance gap between the first arc-shaped support claw (61) and the second arc-shaped support claw (63), and completes automatic winding, knotting and cutting in conjunction with the knotting beak and the cutter; after bundling, the translation drive drives the gripper conveyor mechanism (6) to slide back to the initial receiving station; the arc-shaped clamping claw (62) opens, and the flip drive drives the first arc-shaped support claw (61) and the second arc-shaped support claw (63) to flip downwards, smoothly unloading the bundled leafy vegetables into the collection basket (7) at the bottom, and then resets to wait for the next batch of quantitative leafy vegetables.

[0025] This embodiment can also be improved in the following ways: 1) such as Figure 1 and Figure 2 As shown, three partitions (51) are fixedly connected at a 120° angle along the circumference of the rotating shaft inside the transfer box (5). The three partitions (51) divide the 360° circumferential space inside the transfer box (5) into three accommodating areas. Through the three-station rotation design, the multi-process time and space overlap of upper feeding and weighing, side rotation transition and lower unloading and discharge is realized, which greatly improves the material throughput efficiency.

[0026] In practice, when the leafy vegetables in the top-opening feeding area reach a preset weight (e.g., 500g or 1000g), the weight sensor on the partition (51) of the feeding area outputs a trigger level to the controller; the controller instructs the stepper motor or indexing rotary table to drive the rotating shaft to rotate precisely by 120°. At this time, the feeding area with the rated weight of leafy vegetables rotates to the bottom opening, and under the action of gravity, the leafy vegetables slide down into the gripper conveyor mechanism (6) below. At the same time, the next empty feeding area just rotates to the top opening to receive the leafy vegetables conveyed by the second conveyor mechanism (4), realizing a smooth and seamless connection between continuous feeding and intermittent quantitative discharge.

[0027] In different models and specifications, the partitions can be expanded to two (2×180° opposite), four (4×90° divided into four equal parts), or six (6×60° divided into six equal parts) partitions (51). In addition to being directly arranged on the force-bearing surface of the partition (51), the weight sensor can also be installed on the overall suspension bracket of the transfer box (5) to sense changes in the overall box weight. The preset quantitative weighing threshold can be flexibly set between 200g and 2500g according to the vegetable variety and market specifications (preferred values ​​include, but are not limited to, 250g, 500g, 750g, 1000g, and 1500g).

[0028] 2) such as Figure 4 As shown, the first arc-shaped support claw (61) and the second arc-shaped support claw (63) are fixed coaxially and collinearly, and their cross-sections are both semi-circular arc-shaped and open upwards, forming a semi-cylindrical lower support cavity together. The arc-shaped clamping claw (62) is movably hinged to the upper rear side of the lower support cavity, and its inner arc surface curvature radius matches that of the lower support cavity. In this way, without damaging the tender vegetable leaves, the loose and scattered leafy vegetables are radially neatly tightened into a cylindrical bundle, and a physical clearance passage is reserved for the binding mechanical components.

[0029] In this embodiment, the distance between the first arc-shaped claw (61) and the second arc-shaped claw (63) is set between 30mm and 80mm to form a clearance gap. When the arc-shaped clamping claw (62) closes, its lower pressing part, together with the first arc-shaped claw (61) and the second arc-shaped claw (63) below, forms a closed cylindrical clamping cavity, and the middle section of the vegetable bunch is just exposed in the clearance gap. When the gripper conveying mechanism (6) moves to the binding mechanism (8), the rope feeding swing arm and the knotting beak of the binding mechanism (8) do not need to avoid the claw body and can directly pass through the clearance gap to make a ring knot, which not only ensures that the vegetable bunch is tight and does not fall apart, but also avoids mechanical collision interference between the clamping parts and the binding parts.

[0030] 3) The clamping drive, flipping drive, and translation drive in the gripper conveying mechanism (6) are all servo motors. The closed-loop precise position control and torque limiting protection function of the servo system are used to improve the action response speed and positioning accuracy, and prevent over-pressure damage to vegetables. In implementation, the clamping drive uses a small servo motor with torque feedback, which drives the arc-shaped clamping claw (62) to rotate through a synchronous pulley or reduction gear. It adaptively stops pressing according to the preset torque threshold to avoid crushing the vegetable stem. The flipping drive uses a servo motor connected to a reducer, and the output end is directly connected to the claw shaft to achieve controllable angular displacement flipping and slow feeding from 0° to 180°. The translation drive uses a servo motor to drive a precision ball screw or synchronous toothed belt mechanism, which drives the entire gripper slide table to slide back and forth at high speed and smoothly between the initial receiving station and the bundling station along the guide rail (9).

[0031] In other alternative implementations, a stepper motor, electric actuator, pneumatic drive mechanism (such as a double-acting rotary cylinder, rodless cylinder slide), or hydraulic drive mechanism can also be used. The sliding fit between the gripper conveying mechanism (6) and the guide rail (9) can be replaced with a sliding friction guide rail, a slider linkage mechanism, or a cross roller guide rail, in addition to a ball linear guide rail.

[0032] 4) The first conveying mechanism (3) is a flexible clamping belt conveyor. During the upward climbing process, the conveyor belts on both sides undergo a 90° spatial geometric twist, which gradually twists the leafy vegetables that are moving vertically with their roots facing down into a horizontal lying state under the flexible clamping.

[0033] Preferably, the second conveying mechanism (4) is installed at the receiving end of the first conveying mechanism (3). Guide side plates are provided on both sides of the conveying surface, and the distance between the two side plates gradually decreases along the conveying direction, forming a large funnel-shaped gathering channel that is wider at the front and narrower at the back. At this time, the leafy vegetables falling horizontally are usually spread out in the width direction. Through the physical limitation of the funnel-shaped gathering channel, the leafy vegetables are pushed laterally and axially during the upward oblique pushing process, so that their width is neatly contracted within the axial length range of the partition (51) of the transfer box (5), ensuring smooth falling and neat arrangement.

[0034] 5) such as Figure 1 and Figure 2 As shown, two seed lifters (20) are symmetrically installed at the front end of the tracked chassis (1). The seed lifters (20) are located on both sides in front of the harvesting mechanism (2), and have a pointed front and a gradually widening rear that slopes inward. Before the harvesting blades contact the vegetables, the seed lifters (20) are inserted into both sides of the vegetable ridge to gather the fallen or outward-leaning leaves and lift them up to straighten them, guiding them into the first conveying mechanism (3) in a vertical position, thus preventing the phenomenon of cutting off the right side, missing the cut, or jamming from the source.

[0035] 6) The collection basket (7) is detachably installed in the rear frame of the tracked chassis (1) by means of sliding rail insertion or hook buckle. The upper opening of the collection basket (7) is directly below the gripper conveyor mechanism (6) in the initial material receiving position. This not only allows the gripper conveyor mechanism (6) to flip and drop materials on the spot without additional displacement after resetting, shortening the work cycle time; but also allows the operator to directly pull out the full basket and replace the empty basket when the collection basket (7) is full of bundles of leafy vegetables, so as to achieve continuous operation without stopping the machine.

[0036] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A leafy vegetable harvesting and bundling integrated machine, comprising a tracked chassis and a harvesting mechanism, a first conveying mechanism, a second conveying mechanism and a bundling mechanism mounted on the tracked chassis, wherein the first conveying mechanism is used to receive the leafy vegetables cut by the harvesting mechanism and to change the leafy vegetables from an upright position to a horizontal position during the conveying process, and the second conveying mechanism is used to convey the horizontally placed leafy vegetables to the rear and upward. Its features are, It also includes transfer boxes, gripper conveyor mechanisms, collection baskets, and guide rails; The transfer box is located below the discharge end of the second conveying mechanism. The transfer box is equipped with a rotating shaft and partitions spaced circumferentially along the rotating shaft. The partitions extend axially along the rotating shaft to receive leafy vegetables falling from the second conveying mechanism. The partitions are equipped with weight sensors for weighing the leafy vegetables on the partitions and can be rotated intermittently to discharge the quantitatively weighed leafy vegetables downwards. The gripper conveying mechanism includes a first arc-shaped claw, an arc-shaped clamping claw, and a second arc-shaped claw that cooperate with each other, as well as a clamping drive for driving the arc-shaped clamping claw to open and close, a flipping drive for driving the first and second arc-shaped claws to flip and unload, and a translation drive for driving the gripper conveying mechanism to reciprocate linearly along the guide rail; the first and second arc-shaped claws are arranged at intervals along the direction of leafy vegetable placement to form a clearance gap, and the arc-shaped clamping claw can open or close relative to the first and second arc-shaped claws; the gripper conveying mechanism is slidably mounted on the guide rail and has an initial receiving station located below the transfer box and a binding station that cooperates with the binding mechanism; When the gripper conveyor is in the initial receiving position, the arc-shaped clamping claws open to receive a fixed amount of leafy vegetables discharged from the transfer box, and then the arc-shaped clamping claws close to clamp the leafy vegetables. When the gripper conveyor is in the bundling position, the bundling wires of the bundling mechanism pass through the clearance gap to bundle the leafy vegetables. After bundling is completed, the gripper conveyor returns to the initial receiving position, the arc-shaped clamping claws open, and the bundled leafy vegetables are unloaded into the collection basket by flipping the first arc-shaped support claw and the second arc-shaped support claw.

2. The leafy vegetable harvesting and bundling integrated machine according to claim 1, characterized in that, The number of partitions is three, and the three partitions divide the circumferential space inside the transfer box into three accommodating areas. When the leafy vegetables in the accommodating area in the feeding state reach the preset weight, the transfer box rotates 120° to send the quantitatively weighed leafy vegetables to the discharge position for discharge.

3. The leafy vegetable harvesting and bundling integrated machine according to claim 1, characterized in that, The first arc-shaped support claw and the second arc-shaped support claw are arranged coaxially and their openings face upward, together forming a lower support cavity; the arc-shaped clamping claw is movably hinged to one side above the lower support cavity, and when closed, it surrounds the first arc-shaped support claw and the second arc-shaped support claw to form a clamping cavity for gathering loose leafy vegetables into a bundle; the clearance gap is located in the middle section of the length direction of the clamping cavity.

4. The leafy vegetable harvesting and bundling integrated machine according to claim 1, characterized in that, Both the clamping drive and the flipping drive are servo motors.

5. The leafy vegetable harvesting and bundling integrated machine according to claim 1, characterized in that, The first conveying mechanism is a clamping conveying mechanism, with its feed end close to the harvesting mechanism and its discharge end extending above the second conveying mechanism.

6. The leafy vegetable harvesting and bundling integrated machine according to claim 1 or 5, characterized in that, The second conveying mechanism is arranged at an angle upwards. The second conveying mechanism is provided with a funnel-shaped gathering channel. The gathering channel narrows from wide to narrow along the conveying direction of the leafy vegetables, and is used to laterally gather and shrink the horizontally lying leafy vegetables before guiding them into the transfer box.

7. The leafy vegetable harvesting and bundling integrated machine according to claim 1, characterized in that, The front end of the tracked chassis is also equipped with a seed-lifting device. The seed-lifting device has a guide and seed-dividing structure that is pointed at the front and wide at the back and is located in front of the harvesting mechanism. It is used to gather and straighten upright or lodged leafy vegetables in the field before harvesting.

8. The leafy vegetable harvesting and bundling integrated machine according to claim 1, characterized in that, The collection basket is detachably installed at the rear of the tracked chassis, and the collection basket is located directly below the gripper conveyor mechanism at the initial receiving position.

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