End-of-line automated picking structure, picking mechanism and tobacco harvesting machine

Abstract

The application is suitable for the field of tobacco leaf harvesting device, and provides a terminal automatic picking structure, a collecting mechanism and a tobacco leaf harvesting machine. The terminal automatic picking structure is used for harvesting tobacco leaves on tobacco plants, and includes a spiral part. The lead of the spiral part is greater than the thickness of the petiole of the tobacco leaf to form a working space for the petiole. The spiral part can rotate around the extension line of the tobacco plant. While the spiral part rotates around the extension line of the tobacco plant, it can self-rotate to strip the petiole placed in the working space from the tobacco plant. The terminal automatic picking structure, the collecting mechanism and the tobacco leaf harvesting machine provided by the application have simple structure, can reduce damage to the tobacco plant, and improve the harvesting efficiency.

Description

Technical Field

[0001] This application belongs to the field of tobacco harvesting devices, and particularly relates to an automated end-of-line harvesting structure, a collection mechanism, and a tobacco harvester. Background Technology

[0002] Tobacco is an important agricultural economic crop in my country, playing a significant role in promoting national economic development. Millions of acres are planted annually. Currently, existing tobacco harvesters mainly include fully automatic and semi-automatic harvesting methods. Foreign tobacco harvesters started earlier and have developed a relatively complete system of tobacco harvesting equipment. For example, the Italian DeCloet 2TTH harvester and the American MarCo 6360 self-propelled tobacco harvester use a "mechanical beating" harvesting method, knocking the tobacco leaves off the stalks. The French SMOAREF M20 automatic tobacco harvester uses a whole-stalk harvesting method. Analysis reveals that foreign models are relatively large, making turning and maneuvering in the field difficult, unsuitable for small plots, and causing significant damage to tobacco leaves. They do not meet the requirements for tobacco leaf integrity in the flue-cured tobacco process, making them difficult to promote domestically. Research on tobacco harvesters in China started relatively late, and most are semi-automated, such as those developed by Henan Agricultural University, Dalian University of Technology, and Shandong Wuzheng Group. However, these machines are few in number, have unsatisfactory harvesting results, and lack adaptability to hilly and mountainous tobacco fields, meaning harvesting in these areas still relies heavily on manual labor. Some domestically developed tobacco harvesters with agricultural transport platforms have enabled onboard manual harvesting. While these studies have reduced the labor intensity of tobacco harvesting and improved efficiency to some extent, they are still limited by the terrain and agronomical requirements of hilly and mountainous areas, resulting in problems such as overly large machine sizes, poor adaptability to mountainous regions, high damage rates to tobacco leaves / plants, and high prices. Summary of the Invention

[0003] The purpose of this application is to overcome the shortcomings of the prior art and provide an automated end-of-line harvesting structure, a harvesting mechanism and a tobacco harvester, which aims to simplify the tobacco harvesting structure and reduce the damage rate of tobacco leaves / tobacco plants.

[0004] This application provides an automated end-of-line harvesting structure for harvesting tobacco leaves from tobacco plants. The structure includes a auger with a lead greater than the thickness of the leaf petiole to form a working space for inserting the petiole. The auger is rotatable around the extension line of the tobacco plant and, while rotating around the extension line, it can also rotate on its own axis to peel the petiole inserted into the working space from the tobacco plant.

[0005] This application provides a harvesting mechanism, including a harvesting structure and an alignment structure. The harvesting structure is the aforementioned end-effector automated harvesting structure. The alignment structure includes an alignment member and a limiting member. The alignment member has an alignment line for supporting the tobacco plant. The length of the alignment line is not less than the distance between two tobacco plants. The limiting member has a receiving state hidden inside the alignment line and a working state extending out of the alignment line. When the supporting member abuts against at least two of the tobacco plants, the limiting member is in the working state; when the limiting member abuts against any of the tobacco plants, the preset revolution axis of the spiral member coincides with the extension line of the tobacco plant.

[0006] This application also provides a tobacco leaf harvester, including a harvesting mechanism, a conveying mechanism, and a storage mechanism. The harvesting mechanism is used to harvest tobacco leaves from tobacco plants, and the conveying mechanism transports the harvested tobacco leaves to the storage mechanism. The harvesting mechanism is as described above.

[0007] The automated end-of-line harvesting structure, collection mechanism, and tobacco harvester provided in this application utilize the inclined spiral line on the outer surface of the spiral component to achieve the effect of cutting tobacco leaves through the combination of revolution and rotation. The structure is simple, and "cutting" can better protect tobacco plants and leaves compared to "beating", reducing the damage rate to tobacco leaves / plants and improving harvesting efficiency. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a schematic diagram of the structure of the tobacco harvester provided in the embodiments of this application. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the tobacco harvester provided in the embodiments of this application. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the tobacco harvester provided in the embodiments of this application. Figure 3 This is a top view, in which the material storage mechanism is not shown; Figure 4 This is a schematic diagram of the structure of the acquisition mechanism and the transmission mechanism in the embodiments of this application. Figure 1 ; Figure 5 This is a schematic diagram of the structure of the acquisition mechanism and the transmission mechanism in the embodiments of this application. Figure 2 In this case, the spiral component rotates outward to the outside of the parallel component; Figure 6 This is a schematic diagram of the acquisition mechanism in the embodiments of this application; Figure 7 This is a schematic diagram of the harvesting structure in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of the spiral component and the material carrier in the embodiments of this application; Figure 9 This is a schematic diagram of the alignment structure in an embodiment of this application; Figure 10 This is a schematic diagram of the connection between the cantilever and the limiting member in an embodiment of this application; Figure 11 This is a schematic diagram of the transmission mechanism in an embodiment of this application; Figure 12 yes Figure 1 A magnified view of part A in the middle.

[0010] Explanation of icon numbers: 10. Frame; 11. Horizontal plate; 12. First screw; 20. Harvesting mechanism; 21. Picking structure; 211. Spiral component; 212. Loading component; 2121. Comb teeth; 213. Cantilever; 214. Rotating component; 2141. Extension arm; 2142. Extension shaft; 2143. Connecting part; 215. First rotating shaft; 216. Second rotating shaft; 231. First motor; 232. Second motor; 233. First belt; 234. Second belt; 235. Third belt; 241. Third motor; 242. Lead screw shaft; 243. Screw connector; 22. Alignment structure; 221. Alignment component; 22 2. Limiting component; 223. Driver; 2231. Elastic component; 2232. Telescopic component; 224. Base; 225. Rod; 23. Support column; 24. Sensor; 30. Conveying mechanism; 31. Horizontal conveying structure; 311. Drive shaft; 312. Driven shaft; 313. Rotary wheel; 314. Fourth belt; 315. Fourth motor; 316. Carrier plate; 317. Second screw; 318. Adjusting nut; 32. Transfer structure; 321. Chain; 322. Hook; 40. Strapping device; 50. Material storage mechanism; 51. Material storage box; 52. Traveling wheel; 53. Traction component; 60. Traction vehicle. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0012] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0013] Furthermore, in the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0014] Example 1 Please refer to Figures 1 to 12 This application provides a tobacco leaf harvester, including a frame 10, a harvesting mechanism 20, a conveying mechanism 30, and a storage mechanism 50. The frame 10 can be detachably connected to a tractor 60. The harvesting mechanism 20 is used to harvest tobacco leaves from tobacco plants 90, and the conveying mechanism 30 transports the harvested tobacco leaves to the storage mechanism 50.

[0015] In this embodiment, the frame 10, the harvesting mechanism 20, and the conveying mechanism 30 form a single attachment, detachably connected to the tractor 60, which provides power for movement. This arrangement simplifies the attachment design by eliminating the need for a separate walking mechanism, and allows the attachment to be adapted to different tractors 60 through adjustments to the connection structure, improving economy and applicability. In other embodiments, a walking mechanism can also be installed on the frame 10 to replace the tractor 60 and provide power for the tobacco harvester; this is not the only embodiment.

[0016] In this embodiment, the height of the frame 10 is adjustable to adapt to different ground environments. For details, please refer to... Figure 4 and Figure 12 The frame 10 includes a fixed frame, within which a horizontal plate 11 is provided for connection to the tractor 60. The tractor 60 is provided with a connecting seat, and a height adjustment structure is provided between the connecting seat and the horizontal plate 11. Specifically, the connecting seat is provided with a first screw 12, and a rotating nut is fixedly connected to the horizontal plate 11. The first screw 12 and the rotating nut are screwed together. An operating handle is connected to the first screw 12. By rotating the first screw 12 with the operating handle, the frame 10, together with the acquisition mechanism 20 and the conveying mechanism 30 on it, can move up and down.

[0017] In this embodiment, the collection mechanism 20 includes a picking structure 21 and an alignment structure 22. The alignment structure 22 is used to align with the specific tobacco plant 90, and then the picking structure 21 picks the tobacco leaves on the tobacco plant 90. The specific structure of the picking structure 21 can adopt the end-effector automated picking structure 21 of Embodiment 2, or the collection mechanism 20 can also adopt the collection mechanism 20 of Embodiment 3.

[0018] The specific structure of the conveying mechanism 30 can adopt the conveying mechanism 30 of Embodiment 4.

[0019] Please refer to Figure 2 In this embodiment, the material storage mechanism 50 is detachably mounted from the frame 10. The material storage mechanism 50 includes a material storage box 51, wheels 52 located below the material storage box 51, and a traction member 53 located at the front of the material storage box 51. The material storage box 51 has an upward opening for tobacco leaves to enter and exit. The traction member 53 is detachably connected to the frame 10. After the material storage box 51 is filled with tobacco leaves, the traction member 53 is detached from the frame 10, and the material storage mechanism 50 is moved by a traction trolley or manually to replace the new material storage box 51.

[0020] Example 2 Please refer to Figures 3 to 8 This embodiment provides an automated end-of-pipe harvesting structure 21 (hereinafter referred to as harvesting structure 21). The harvesting structure 21 includes a spiral member 211. The lead of the spiral member 211 is greater than the thickness at the petiole of the tobacco leaf to form a working space for the petiole to be inserted. The spiral member 211 can rotate around the extension line of the tobacco plant 90. While the spiral member 211 rotates around the extension line of the tobacco plant 90, it can also rotate on its own axis to peel the petiole inserted into the working space from the tobacco plant 90.

[0021] For ease of description, please refer to Figure 7 The rotation center line of the spiral component 211 is marked as C1 (hereinafter referred to as the first axis C1), and the rotation center line of the self-rotation is marked as C2 (hereinafter referred to as the second axis C2).

[0022] The outer surface of the spiral component 211 is a spiral. Figure 8 In the structure shown, the spiral component 211 is generally linear, resembling a typical spring in shape, but it is not required to be elastic. Preferably, the spiral component 211 can also be contracted and fixed to the second rotating shaft 216 at both ends to enhance the structural strength of the spiral component 211. In another embodiment, the spiral component 211 can also be a helix formed by rotating a flat plate as its generatrix.

[0023] In this embodiment, the lead of the auger 211 is greater than the thickness of the tobacco leaf at the petiole. The lead is the distance along the axis of rotation of one revolution of the helix. The lead of the auger 211 is greater than the thickness of the petiole so that the petiole can extend into the auger 211. In this embodiment, the lead of the auger 211 is not less than 45 mm. When the lead is small, the petiole is not easily placed into the working space. If the petiole does not enter the working space, the rotation of the auger 211 will not only fail to cut the petiole, but will also impact and damage the tobacco leaf. After multiple tests, it was found that the lead of the auger 211 is not less than 45 mm, so that the petiole of the tobacco leaf can be quickly placed into the working space of the auger 211. Preferably, the lead of the auger 211 is between 50 mm and 70 mm. Within this range, the upper and lower helical lines can achieve an effect similar to clamping the tobacco leaf, thereby achieving more efficient cutting and a smoother cut surface, which is less prone to tearing. Those skilled in the art can adjust the lead of the spiral component 211 to 50mm, 52mm, 55mm, 56mm, 60mm, 63mm, 65mm, 68mm, 70mm, etc., according to actual needs, and no single limitation is made here.

[0024] The tobacco plant 90 includes a tobacco stem and tobacco leaves. After the petiole of the tobacco leaf is placed into the working space of the auger 211, the auger 211 revolves around the first axis C1 and rotates around the second axis C2. The spiral line on its outer surface will squeeze the petiole, thereby achieving the effect of cutting the petiole and detaching the petiole from the tobacco stem.

[0025] Tobacco leaves are generally grown in pairs. The auger 211 rotates around the tobacco stem once, cutting off multiple leaves from that layer at once, resulting in very high harvesting efficiency. As described below, the height of the auger 211 is adjustable. By adjusting the height of the auger 211, harvesting of tobacco leaves from 90 different layers of the tobacco plant can be achieved.

[0026] The harvesting structure 21 provided in this application utilizes the inclined spiral line on the outer surface of the spiral component 211 to achieve the effect of cutting tobacco leaves through the combination of revolution and rotation. The structure is simple, and "cutting" can better protect tobacco plants 90 and tobacco leaves than "beating", reducing the damage rate to tobacco leaves / tobacco plants 90 and improving harvesting efficiency.

[0027] Preferably, those skilled in the art can provide a cutting edge at the position where the spiral part 211 (spiral wire or spiral body) abuts the blade handle to improve cutting efficiency.

[0028] In another embodiment of this application, please refer to Figure 8 The harvesting structure 21 also includes a material carrier 212 for receiving tobacco leaves peeled from the tobacco plant 90. The material carrier 212 and the auger 211 are rotatable around the extension line of the tobacco plant 90. The material carrier 212 and the auger 211 rotate synchronously around the extension line of the tobacco plant 90 to ensure that the tobacco leaves cut by the auger fall onto the material carrier 212.

[0029] Please refer to Figure 8 The material carrier 212 includes a plurality of spaced comb teeth 2121, which form a bearing surface for placing tobacco leaves.

[0030] In the illustrated structure, the comb teeth 2121 are L-shaped, including horizontal and vertical sections, with multiple comb teeth 2121 arranged sequentially. The horizontal sections of the comb teeth 2121 form a bearing surface for placing tobacco leaves, while the vertical sections form a blocking surface for the tobacco leaves. As described later, the tobacco leaves collected by the picking structure 21 are transferred to the horizontal conveyor structure 31. The bearing surface of the horizontal conveyor structure 31 is formed by multiple fourth belts 314, which are spaced apart and form a conveying surface for carrying tobacco leaves. The distance between two adjacent fourth belts 314 is not less than the spacing between the comb teeth 2121. With this configuration, the comb teeth 2121 of the loading component 212 can be misaligned with the fourth belts 314 and inserted into the gaps between them, making the bearing surface of the loading component 212 lower than the conveying surface of the fourth belts 314, thus allowing the tobacco leaves on the loading component 212 to naturally transition to being carried by the fourth belts 314.

[0031] In other embodiments, the material carrier 212 may also adopt other structural forms, which are not limited here.

[0032] In another embodiment of this application, please refer to Figure 7 The harvesting structure 21 includes a cantilever 213 and a rotating component 214. The spiral component 211 is rotatably connected to the rotating component 214 via a second rotating shaft 216. The rotating component 214 is rotatably connected to the cantilever 213 via a first rotating shaft 215. The axis of the second rotating shaft 216 (second axis C2) is offset from the axis of the first rotating shaft 215 (first axis C1). When the axis of the first rotating shaft 215 (first axis C1) coincides with the extension line of the tobacco plant 90, the spiral component 211 can rotate around the axis of the second rotating shaft 216 while rotating around the first rotating shaft 215, thereby peeling the petiole placed in the working space from the tobacco plant 90.

[0033] It should be noted that since the tobacco plant 90 is a living organism, its stem is generally vertical, but there may be local variations in thickness or slight bends. The alignment of the axis of the first rotating shaft 215 (first axis C1) with the extension line of the tobacco plant 90 means that the axis of the first rotating shaft 215 (first axis C1) largely coincides with the center line of the tobacco plant 90's stem, allowing the spiral component 211 to revolve around the tobacco plant as its center.

[0034] In this embodiment, the cantilever 213 is movable. During harvesting, the cantilever 213 is moved until the first rotating shaft 215 is directly above the tobacco plant 90 (the first axis C1 coincides with the extension line of the tobacco plant 90) to achieve positioning. Then, the auger 211 revolves around the first axis C1 while rotating on its own axis around the second axis C2 to harvest the tobacco leaves on the tobacco plant 90. Through the arrangement of the second rotating shaft 216, the rotating component 214, and the first rotating shaft 215, the auger 211 can move with the cantilever 213. When the second rotating shaft 216 coincides with the extension line of the tobacco plant 90, the auger 211 also reaches the working area without the need for secondary positioning, thus simplifying the structural design.

[0035] In another embodiment of this application, please refer to Figure 7 The rotating component 214 includes an extension arm 2141, an extension shaft 2142, and a connecting part 2143. The extension arm 2141, the extension shaft 2142, and the connecting part 2143 are integrally formed and rotatably connected to the cantilever 213 via a first rotating shaft 215. The spiral component 211 is rotatably connected to the connecting part 2143 via a second rotating shaft 216. The extension shaft 2142, the second rotating shaft 216, and the first rotating shaft 215 are arranged in parallel, and the distance between the extension shaft 2142 and the first rotating shaft 215 is greater than the distance between the second rotating shaft 216 and the first rotating shaft 215.

[0036] Considering the working environment of tobacco harvesting, the tobacco leaves of tobacco plant 90 are radially arranged, occupying a large volume of space. The extension arm 2141, the extension shaft 2142, and the connecting part 2143 roughly form a semi-frame. The extension arm 2141 extends outward a certain distance relative to the center of tobacco plant 90, and then folds back through the connecting part 2143. The space between the extension arm 2141 and the connecting part 2143 can avoid the upper layer of tobacco leaves of tobacco plant 90, reducing damage to the upper layer of tobacco leaves.

[0037] In summary, the spiral component 211 rotates on its own axis while revolving around the sun. The revolution and rotation of the spiral component 211 can be driven by one motor or by two motors.

[0038] Considering the operational space limitation of the harvesting structure 21 due to the tobacco plants 90, this embodiment places the drive motor on the cantilever 213, achieving transmission through the cooperation of multiple pulleys and a drive shaft. Specifically: The harvesting structure 21 also includes a first motor 231 and a second motor 232. The first motor 231 is used to drive the first rotating shaft 215 to rotate. The output shaft of the second motor 232 is provided with a first gear, the first rotating shaft 215 is fitted with a second gear, the second gear and the first gear are fitted with a first belt 233, the extension shaft 2142 is coaxially provided with a third gear and a fourth gear, the second gear and the third gear are fitted with a second belt 234, the second rotating shaft 216 is coaxially provided with a fifth gear, the fourth gear and the fifth gear are fitted with a third belt 235, and the second motor 232 drives the first gear to rotate, thereby driving the second rotating shaft 216 together with the spiral component 211 to rotate.

[0039] In this embodiment, the first motor 231 is fixed on the cantilever 213 and drives the first rotating shaft 215 to rotate, thereby causing the rotating component 214 (extending arm 2141, extending shaft 2142, and connecting part 2143) to rotate synchronously along with the spiral component 211 and the material carrier 212. This achieves the revolution of the spiral component 211. The second motor 232 is fixed on the cantilever 213, and its output shaft is fitted with a first gear. The first gear drives the second gear to rotate through the first belt 233. The third and fourth gears are fixed on the extending shaft 2142 to rotate synchronously, and the second and third gears are transmitted to each other through the second belt 234. A fifth gear is coaxially arranged on the second rotating shaft 216. The fourth gear is transmitted to the fifth gear through the third belt 235, and the fifth gear drives the spiral component 211 to rotate. The transmission method is: first motor 231 - first rotating shaft 215 - (extending arm 2141 - extending shaft 2142 - connecting part 2143 - material carrier 212 - spiral component 211). Second motor 232 - First gear - First belt 233 - Second gear - Second belt 234 - (Third gear - Extension shaft 2142 - Fourth gear) - Third belt 235 - (Fifth gear - Second rotating shaft 216). Parentheses indicate that the structures within move synchronously as a whole.

[0040] It should be noted that in this embodiment, the second gear is simultaneously meshed with the first belt 233 and the second belt 234. In other embodiments, the second gear can also be replaced by two coaxially arranged and synchronously rotating wheels, which are rotatably connected to the first belt 233 and the second belt 234 respectively.

[0041] In this embodiment, the revolution and rotation of the spiral component 211 are driven by two motors. In another embodiment, it can also be driven by only one motor. In this case, there is no need to set up the first gear and the first belt 233. As long as the second gear and the first rotating shaft 215 are fixedly connected, the motor drives the first rotating shaft 215 to rotate, which realizes the revolution and rotation of the spiral component. However, under this setting, the revolution and rotation of the spiral component 211 are controlled by the same power source, which makes it inconvenient to adjust the speed ratio. This embodiment uses two sets of transmissions to control the revolution and rotation of the spiral component 211 separately, so as to better adjust the speed and power required for cutting tobacco leaves.

[0042] In this embodiment, the first motor 231 is a hollow geared motor.

[0043] In another embodiment of this application, please refer to Figure 7 A lead screw shaft 242 is inserted between the extension arm 2141 and the connecting part 2143. A screw connector 243 is screwed onto the lead screw shaft 242. The screw connector 243 is fixed to the connecting part 2143. The rotation of the lead screw shaft 242 drives the connecting part 2143 to move up and down.

[0044] The lead screw shaft 242 is arranged parallel to the extension shaft 2142, forming two-point limiting points to restrict the rotation of the connecting part 2143 relative to the extension shaft 2142, thereby improving the structural stability and strength of the connecting part 2143. The lead screw shaft 242 is driven by a third motor 241, which rotates the lead screw shaft 242. With the cooperation of the lead screw shaft 242 and the screw connector 243, the height of the connecting part 2143 can be adjusted. The height of the connecting part 2143 is adjustable so that the screw 211 can be adaptively adjusted based on the height of the tobacco leaves.

[0045] Example 3 Please refer to Figures 2-6 , Figure 9 This application provides a harvesting mechanism 20, including a harvesting structure 21 and an alignment structure 22. The alignment structure 22 is used to align with a specific tobacco plant 90, and then the harvesting structure 21 harvests the tobacco leaves on the tobacco plant 90. For the specific structure of the harvesting structure 21, please refer to Embodiment 2.

[0046] Please refer to Figure 3 and Figure 9 The alignment structure 22 includes an alignment member 221 and a limiting member 222. The alignment member 221 has an alignment line for supporting the tobacco plants 90. The length of the alignment line is not less than the distance between two tobacco plants 90. The limiting member 222 has a receiving state hidden inside the alignment line and a working state extended out of the alignment line.

[0047] When the guide member 221 abuts against at least two tobacco plants 90, the limiting member 222 is in working state; when the limiting member 222 abuts against any tobacco plant 90, the preset revolution axis (first axis C1) of the spiral member 211 coincides with the extension line of the tobacco plant 90.

[0048] In this embodiment, the pairing member 221 is a long strip plate with pairing lines on its outer surface. In other embodiments, the pairing member 221 can also be a slender piece with a circular, elliptical, or rectangular cross-section. Of course, the pairing member 221 can also be an irregular structure, as long as its surface closest to the tobacco plant 90 has front-to-back pairing lines.

[0049] The elongated, parallel member 221 abuts against at least two tobacco plants 90, achieving alignment between the direction of travel of the tobacco harvester and the length direction of the parallel member 221. Simultaneously with the parallel member 221 abutting against the tobacco plant 90, the limiting member 222 protrudes beyond it. After alignment, the tobacco harvester continues to move forward, and the limiting member 222 moves forward along with it until it abuts against the tobacco plant 90. At this point, the harvesting structure 21 reaches its preset working position, where the axis of revolution of the spiral member 211 (first axis C1) coincides with the extension line of the tobacco plant 90. The tobacco harvester stops moving forward, and the harvesting structure 21 harvests the tobacco leaves from that tobacco plant 90.

[0050] The alignment structure 22 provided in this embodiment uses the elongated alignment member 221 to abut against multiple tobacco plants 90 to determine the straight line where the tobacco plants 90 are located. Then, the limiting member 222 moves along this straight line and abuts against the tobacco plants 90 to reach the position of the tobacco plants 90. This design, through the cooperation of lines and points, can quickly locate the target tobacco plant 90, which can significantly reduce the production and maintenance costs of the machine compared to image vision positioning, laser positioning, and other methods.

[0051] In another embodiment of this application, please refer to Figure 9 The alignment structure 22 includes a driver 223, a base 224, and at least two parallel rods 225. One end of each rod 225 is hinged to the base 224, and the other end is hinged to the alignment member 221. The two hinge points of each rod 225 are equidistant. One of the rods 225 is provided with a limiting member 222. The driver 223 drives the rod 225 to rotate, thereby causing the moving member 221 to move closer to or away from the tobacco plant 90, and causing the limiting member 222 to switch between the receiving state and the working state.

[0052] The base 224, the rod 225 and the parallel member 221 form a four-bar linkage structure. Under the action of multiple rods 225, the parallel member 221 translates relative to the base 224, that is, the beginning and end of the parallel member 221 will not deflect.

[0053] The rotation of lever 225 drives the guide member 221 to extend towards the tobacco plant 90 or retract away from it. After the tobacco leaves are harvested, the guide member 221 retracts away from the tobacco plant 90, then moves to the location of the next tobacco plant 90, and extends again to reach the tobacco plant 90 for harvesting. The retraction of the guide member 221 effectively avoids the tobacco leaves on the tobacco plant 90, reducing damage to the tobacco plant 90 during the harvester's movement.

[0054] In another embodiment of this application, please refer to Figure 6 and Figure 10 The rod 225, equipped with a limiting member 222, is fixedly connected to the cantilever 213 and rotates synchronously. For the specific structure of the cantilever 213, please refer to Embodiment 1.

[0055] Please refer to Figure 10 One end of the cantilever 213 away from the first rotating shaft 215 is fixedly connected to the support column 23, and the other end of the rod 225 away from the limiting member 222 is connected to the support column 23. The three form a whole and rotate synchronously. At this time, the driver 223 drives the parallel member 221 to rotate, and at the same time drives the cantilever 213 and its connected screw member 211 to rotate synchronously. This setting reduces the power source (the rotation of the cantilever 213 does not require a separate drive structure) while ensuring the consistency of movement of the screw member 211 and the parallel member 221. When the limiting member 222 abuts against the tobacco plant 90, the first rotating shaft 215 on the cantilever 213 also reaches above the tobacco plant 90, and harvesting operations can be carried out.

[0056] Figure 10 In the structure shown, the limiting member 222 is recessed towards the surface of the tobacco stem 90 to accommodate the curvature of the tobacco stem 90. Preferably, a sensor 24 is provided at the recess of the limiting member 222. When the limiting member 222 comes into contact with the tobacco stem 90, the sensor 24 is triggered, and the driver 223 stops operating. This arrangement can improve the accuracy of control.

[0057] In another embodiment of this application, please refer to Figure 9 The actuator 223 includes an elastic element 2231 and a telescopic element 2232. The telescopic element 2232 can extend to drive the rod 225 to rotate in a direction closer to the base 224 or in a direction away from the tobacco plant 90. When the telescopic element 2232 retracts, the rod 225 rotates in a direction closer to the tobacco plant 90 under the elastic restoring force of the elastic element 2231.

[0058] In the illustrated structure, there are three rods 225, with a limiting member 222 on the middle rod 225. The front rod 225 has an extension section. The driver 223 rotates the rod 225 by acting on the extension section. The telescopic member 2232 can be the extension shaft of a linear motor. The extension shaft extends forward, pushing the extension section and rod 225 to rotate, causing the parallel member 221 to retract and move away from the tobacco plant 90. At this time, the elastic member 2231 is compressed (if initially compressed, it will be further compressed at this point). When the extension shaft moves backward (retracts), the extension section and rod 225 rotate in opposite directions under the elastic restoring force of the elastic member 2231, causing the parallel member 221 to unfold and approach the tobacco plant 90 until the extension section abuts against the extension shaft.

[0059] Example 4 Please refer to Figure 3 , Figure 5 and Figure 11 This application provides a conveying mechanism 30, which includes a horizontal conveying structure 31 and a transfer structure 32. A strapping device 40 is provided at the horizontal conveying structure 31. The collecting mechanism 20 transfers tobacco leaves from the loading component 212 to the horizontal conveying structure 31. The strapping device 40 straps the tobacco leaves conveyed from the horizontal conveying structure 31. The strapped tobacco leaves are then transferred to the storage mechanism 50 via the transfer structure 32. The strapping device 40 can be an existing tobacco leaf strapping device, which will not be described in detail here.

[0060] In another embodiment of this application, please refer to Figure 11 The horizontal conveying structure 31 includes a driving shaft 311 and a driven shaft 312 arranged in parallel. Multiple rollers 313 are coaxially arranged on both the driving shaft 311 and the driven shaft 312. The rollers 313 on the driving shaft 311 and the driven shaft 312 are arranged correspondingly and each is fitted with a fourth belt 314. The multiple fourth belts 314 are spaced apart and form a conveying surface that carries the tobacco leaves. The driving shaft 311 rotates to drive the tobacco leaves to move.

[0061] In this embodiment, taking advantage of the large size and surface area of ​​tobacco leaves, but their light weight, multiple fourth belts 314 are spaced apart to form a conveyor belt. A fourth motor 315 drives the drive shaft 311 to rotate, which in turn drives the belts and the driven shaft 312 to rotate. The rotation of the fourth belts 314 causes the tobacco leaves to move.

[0062] In another embodiment of this application, the distance between two adjacent fourth belts 314 is not less than the spacing of the comb teeth 2121. For the specific structure of the comb teeth 2121, please refer to Embodiment Two. With this arrangement, the comb teeth 2121 of the loading component 212 can be inserted into the gaps between the fourth belts 314 in an alternating manner, so that the bearing surface of the loading component 212 is lower than the conveying surface of the fourth belt 314, thereby allowing the tobacco leaves on the loading component 212 to naturally transition to being carried by the fourth belt 314.

[0063] In this embodiment, the height of the conveying mechanism 30 is adjustable relative to the frame 10. In conjunction with the foregoing, the height of the auger 211 is also adjustable, allowing for adaptive adjustments based on the height of the tobacco leaves. The height of the conveying mechanism 30 is adjustable to match the height of the auger 211, thus smoothly receiving the tobacco leaves transferred from the collection mechanism 20.

[0064] In this embodiment, please refer to Figure 4 and Figure 11 The frame 10 includes a fixed frame with a second screw 317. The conveying mechanism 30 includes two carrier plates 316. The two ends of the drive shaft 311 and driven shaft 312 of the horizontal conveying structure 31 are fixed to the carrier plates 316 by bearings, forming a rectangular frame. One carrier plate 316 is provided with an adjusting nut 318 that is screwed into the second screw 317. The height of the horizontal conveying structure 31 is adjusted by rotating the second screw 317. The transfer structure 32 and the strapping device 40 are located on the horizontal conveying structure 31 and move up and down synchronously with the horizontal conveying structure 31.

[0065] In another embodiment of this application, please refer to Figure 11 The transfer structure 32 includes a chain 321 with hooks 322 spaced apart on the chain 321. The hooks 322 hook and bind the bundled tobacco leaves at a low position as the chain 321 rotates, and then transfer the tobacco leaves to a high position and turn at the high position to release the tobacco leaves.

[0066] In this embodiment, the chain 321 is driven by a sprocket, and multiple hooks 322 are distributed on the chain 321. After the tobacco leaves are bundled by the bundler 40, they are transported to a higher position by the hooks 322. When the tobacco leaves turn at the higher position, the angle of the hooks 322 changes. Under the action of gravity, the tobacco leaves are released from the hooks 322 and fall naturally into the storage mechanism 50 below.

[0067] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automated end-of-pipe harvesting structure for harvesting tobacco leaves from tobacco plants, characterized in that, The device includes a spiral component with a lead greater than the thickness at the petiole of the tobacco leaf to form a working space for inserting the petiole. The spiral component is capable of rotating around the extension line of the tobacco plant. While rotating around the extension line of the tobacco plant, the spiral component can also rotate on its own axis to peel the petiole inserted into the working space from the tobacco plant.

2. The automated harvesting structure at the end of the harvester as described in claim 1, characterized in that, The spiral component is a rotating wire.

3. The automated harvesting structure at the end of the harvester as described in claim 1, characterized in that, The harvesting structure also includes a material carrier for receiving tobacco leaves peeled from the tobacco plant. The material carrier and the auger are rotatable around the extension line of the tobacco plant.

4. The automated harvesting structure at the end of the harvester as described in claim 1, characterized in that, The harvesting structure includes a cantilever and a rotating component. The rotating component is rotatably connected to the cantilever via a first rotating shaft, and the spiral component is rotatably connected to the rotating component via a second rotating shaft. The axis of the second rotating shaft is offset from the axis of the first rotating shaft. When the axis of the first rotating shaft coincides with the extension line of the tobacco plant, the spiral component can rotate around the first rotating shaft while simultaneously rotating around the axis of the second rotating shaft to peel the petiole placed in the working space from the tobacco plant.

5. The automated harvesting structure at the end of the harvester as described in claim 4, characterized in that, The rotating component includes an extension arm, an extension shaft, and a connecting part. The extension arm, the extension shaft, and the connecting part form an integral structure that is rotatably connected to the cantilever via the first rotating shaft. The helical component is rotatably connected to the connecting part via the second rotating shaft. The extension shaft, the second rotating shaft, and the first rotating shaft are arranged in parallel, and the distance between the extension shaft and the first rotating shaft is greater than the distance between the second rotating shaft and the first rotating shaft.

6. The automated harvesting structure at the end of the harvester as described in claim 5, characterized in that, The automated harvesting structure at the end also includes a first motor and a second motor. The first motor is used to drive the first rotating shaft to rotate. The output shaft of the second motor is provided with a first gear. The first rotating shaft is fitted with a second gear. The second gear and the first gear are fitted with a first belt. The extension shaft is coaxially provided with a third gear and a fourth gear. The second gear and the third gear are fitted with a second belt. The second rotating shaft is coaxially provided with a fifth gear. The fourth gear and the fifth gear are fitted with a third belt. The second motor drives the first gear to rotate, thereby driving the second rotating shaft and the spiral component to rotate.

7. The automated harvesting structure at the end of the terminal as described in claim 6, characterized in that, A lead screw shaft is threaded between the extension arm and the connecting part. A screw thread is screwed onto the lead screw shaft, and the screw thread is fixed to the connecting part. The rotation of the lead screw shaft drives the connecting part to move up and down.

8. A data acquisition mechanism, characterized in that, The invention includes a picking structure and an alignment structure. The picking structure is an automated end-of-pipe picking structure as described in any one of claims 1-7. The alignment structure includes a aligning member and a limiting member. The aligning member has an aligning line for supporting the tobacco plant. The length of the aligning line is not less than the distance between two tobacco plants. The limiting member has a receiving state hidden inside the aligning line and a working state extending out of the aligning line. When the limiting member abuts against at least two of the tobacco plants, the limiting member is in the working state; when the limiting member abuts against any of the tobacco plants, the spiral member can rotate around the extension line of the tobacco plant.

9. The data acquisition mechanism as described in claim 8, characterized in that, The alignment structure includes a driver, a base, and at least two parallel rods, one end of each rod being hinged to the base and the other end being hinged to the alignment member, and the two hinge points of each rod being equidistant. One of the rods is provided with the limiting member; The driver drives the rod to rotate, causing the opposing member to move closer to or away from the tobacco plant, and causes the limiting member to switch between the receiving state and the working state.

10. The data acquisition mechanism as described in claim 9, characterized in that, The harvesting structure includes a cantilever and a rotating component. The rotating component is rotatably connected to the cantilever via a first rotating shaft. The spiral component is rotatably connected to the rotating component via a second rotating shaft. The axis of the second rotating shaft is offset from the axis of the first rotating shaft. When the axis of the first rotating shaft coincides with the extension line of the tobacco plant, the spiral component can rotate around the first rotating shaft while simultaneously rotating around the axis of the second rotating shaft to peel the petiole placed in the working space from the tobacco plant. The rod with the limiting member is fixedly connected to the cantilever and rotates synchronously.

11. The data acquisition mechanism as described in claim 9, characterized in that, The actuator includes an elastic element and a telescopic element. The telescopic element can extend to drive the rod to rotate away from the tobacco plant. When the telescopic element retracts, the rod rotates towards the tobacco plant under the elastic restoring force of the elastic element.

12. A tobacco leaf harvester, characterized in that, It includes a collection mechanism, a conveying mechanism, and a storage mechanism. The collection mechanism is used to pick tobacco leaves from tobacco plants, and the conveying mechanism transports the picked tobacco leaves to the storage mechanism. The acquisition mechanism is the acquisition mechanism as described in any one of claims 8 to 11.

13. The tobacco harvester as described in claim 12, characterized in that, The conveying mechanism includes a driving shaft and a driven shaft arranged in parallel. Multiple rollers are coaxially arranged on both the driving shaft and the driven shaft. The rollers on the driving shaft and the driven shaft are correspondingly arranged and each is fitted with a fourth belt. The multiple fourth belts are spaced apart and form a conveying surface that carries the tobacco leaves. The driving shaft rotates to drive the tobacco leaves to move.

14. The tobacco harvester as described in claim 13, characterized in that, The harvesting structure also includes a material carrier for receiving tobacco leaves peeled from the tobacco plant. The material carrier and the spiral component are rotatable around the extension line of the tobacco plant. The material carrier includes a plurality of spaced-apart comb teeth, which form a bearing surface for placing the tobacco leaves. The distance between two adjacent fourth belts is not less than the spacing between the comb teeth.

15. The tobacco harvester as described in claim 13, characterized in that, The tobacco harvester also includes a bundler for bundling the tobacco leaves on the conveyor surface.

16. The tobacco harvester as described in claim 15, characterized in that, The conveying mechanism includes a chain with hooks spaced apart on it. The hooks hook and attach the bundled tobacco leaves at a lower position as the chain rotates, then transfer the tobacco leaves to a higher position and release them into the storage mechanism by turning at the higher position.

17. The tobacco harvester as described in claim 12, characterized in that, The tobacco harvester also includes a frame, the harvesting mechanism and the conveying mechanism are mounted on the frame, the material storage mechanism is detachably mounted on the frame, and the frame can be mounted on a tractor.

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