Self-propelled asparagus lettuce harvester

Abstract

The utility model discloses a self-propelled asparagus lettuce harvester, which belongs to the technical field of agricultural machinery, and comprises a walking device, a detection device, a leaf stripping device and a cutting device, the walking device can advance in an asparagus lettuce field furrow along the extension direction of a ridge, and an advancing distance is formed between the walking device and the asparagus lettuce on the ridge; the detection device comprises a remote range finder; the leaf stripping device comprises a lifting mechanism, a linear translation mechanism, a telescopic mechanism and a mechanical clamping jaw; the cutting device comprises a cutting electric saw rotating on the walking device, and the rotating radius of the cutting electric saw is larger than the walking distance. After the detection device detects an asparagus lettuce plant, the walking device pauses, the leaf stripping device automatically suspends the mechanical clamping jaw at the upper end of the asparagus lettuce, downwards strips old leaves and clamps the root of the asparagus lettuce in place, the cutting device rotates to cut off the root of the asparagus lettuce, and then the mechanical clamping jaw lifts and turns and loosens the clamping jaw, so that harvesting of the asparagus lettuce is completed, and automatic leaf stripping and cutting are achieved. Compared with manual leaf stripping and cutting, the working efficiency can be greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, in particular to a self-propelled lettuce harvester. Background Art

[0002] Lettuce is the most common vegetable in my country. To harvest lettuce, old leaves must be removed, and the whole plant must be cut and tied while it is intact. At present, lettuce harvesting mainly relies on manual leaf removal and harvesting, which is inefficient, labor-intensive, and low-income. Therefore, the labor force willing to engage in lettuce harvesting is decreasing year by year. With the improvement of people's living standards, the demand for lettuce has increased year by year. Therefore, the market demand for mechanized harvesting of vegetables such as lettuce is growing. However, the harvesters on the current market are mainly for field crops, and there is still a certain degree of difficulty in harvesting vegetables such as lettuce. Utility Model Content

[0003] The purpose of the utility model is to solve the above-mentioned technical problems and provide a self-propelled lettuce harvester, which is mainly composed of a walking device, a detection device, a leaf pulling device and a cutting device. Through the cooperation of various devices, automatic leaf pulling and cutting of lettuce can be achieved. Compared with manual leaf pulling and cutting, its work efficiency is greatly improved.

[0004] To achieve the above object, the utility model provides the following solution: The utility model discloses a self-propelled lettuce harvester, comprising

[0005] A walking device capable of traveling in a ridge furrow of a lettuce field along a ridge extension direction, wherein the walking device has a traveling distance from the lettuces on the ridge;

[0006] A detection device, the detection device is installed on the walking device, the detection device includes a remote distance meter, and the remote distance meter can be directed toward the ridge and perpendicular to the extension direction of the ridge during the process of traveling along the ridge;

[0007] A leaf-pulling device, the leaf-pulling device comprises a lifting mechanism, a linear translation mechanism, a telescopic mechanism and a mechanical clamp, the fixed end of the lifting mechanism is rotatably connected to the walking device, the rotation axis of the lifting mechanism is vertically arranged, the lifting end of the lifting mechanism is fixedly connected to the fixed end of the linear translation mechanism, the translation end of the linear translation mechanism is fixedly connected to the fixed end of the telescopic mechanism, the telescopic end of the telescopic mechanism is fixedly connected to the mechanical clamp, the extension direction of the telescopic end of the telescopic mechanism is vertically downward, the mechanical clamp is horizontally arranged with its jaws facing away from the rotation axis of the lifting mechanism, and the mechanical clamp can be located on the line connecting the remote rangefinder and the lettuce being measured when its jaws are facing the position of the lettuce on the ridge;

[0008] The cutting device comprises a cutting saw rotatably connected to the walking device, the rotation axis of the cutting saw is vertically arranged, the rotation radius of the cutting saw is larger than the travel spacing, and the cutting saw and the bottom of the ditch have a preset cutting height capable of cutting the roots of lettuce.

[0009] Preferably, the walking device is a wheeled drive trolley, a tracked drive trolley or a multi-legged drive trolley.

[0010] Preferably, the front of the wheeled drive vehicle has two universal wheels, and the rear of the wheeled drive vehicle has two drive wheels.

[0011] Preferably, the long-range rangefinder is a laser rangefinder, and the laser emission head of the laser rangefinder is oriented toward the side ridge and perpendicular to the extension direction of the ridge.

[0012] Preferably, the lifting mechanism is an electric lifting column.

[0013] Preferably, the electric lifting column is rotatably connected to the traveling device via a rotating mechanism, the rotating mechanism comprises a driving gear, a driven gear and a driving motor, the driving motor is fixedly connected to the traveling device, the driving gear is coaxially fixed to the output shaft of the driving motor, the output shaft of the driving motor is vertically arranged, the driven gear is rotatably connected to the traveling device, the driven gear is meshed with the driving gear, and the electric lifting column is fixedly connected to the driven gear.

[0014] Preferably, the electric lifting column includes a rectangular inner sleeve and a rectangular outer sleeve, the rectangular inner sleeve is fixedly connected to the driven gear, a vertically arranged lead screw is rotatably connected inside the rectangular inner sleeve, a nut is threadedly connected to the lead screw, the rectangular outer sleeve is sleeved outside the rectangular inner sleeve, and the nut is rotatably connected to the rectangular outer sleeve.

[0015] Preferably, the linear translation mechanism is a ball linear guide rail, and the fixed end of the telescopic mechanism is fixedly connected to a ball slider on the ball linear guide rail.

[0016] Preferably, the telescopic mechanism includes a mounting plate, a rotating motor, a guide sleeve and a connecting rod assembly, the mounting plate is fixedly connected to the ball slider, the rotating motor and the guide sleeve are installed on the mounting plate in an upper and lower distribution, the output shaft of the rotating motor is horizontally arranged and perpendicular to the extension direction of the ball linear guide, the guide sleeve is vertically arranged, the connecting rod assembly includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the first connecting rod is fixedly connected to the output shaft of the rotating motor, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, the other end of the third connecting rod is fixedly connected to one end of the fourth connecting rod, the other end of the fourth connecting rod is fixedly connected to the mechanical clamp, the third connecting rod is slidably connected to the circular rod in the guide sleeve, and the length directions of the third connecting rod and the fourth connecting rod are the same.

[0017] Preferably, the cutting device includes a rotating mechanism, which includes a rotating motor, a rotating gear, and a follower gear. The rotating motor is installed on the traveling device, the output shaft of the rotating motor is vertically arranged, the rotating gear is coaxially fixedly connected to the output shaft of the rotating motor, the follower gear is meshed with the rotating gear, the follower gear is rotatably connected to the traveling device, and the cutting electric saw is fixedly connected to the follower gear.

[0018] Compared with the prior art, the utility model has achieved the following technical effects:

[0019] The utility model discloses a self-propelled lettuce harvester, which is mainly composed of a walking device, a detection device, a leaf-pulling device and a cutting device. Through the cooperation of the devices, the automatic leaf-pulling and cutting of the lettuce can be realized. After the detection device detects the lettuce plant, the walking device is suspended, and the leaf-pulling device automatically rotates to suspend the mechanical clamping claw on the upper end of the lettuce, and pulls away the old leaves downwards, clamps the root of the lettuce after it is in place, and the cutting device rotates to cut off the root of the lettuce. Then the mechanical clamping claw is lifted, turned and released, and the harvest of one lettuce is completed. The cycle operation is repeated until the harvest of one row of lettuce is completed, and then the harvest of the next row of lettuce is completed. Compared with manual leaf-pulling and cutting, the work efficiency is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1It is a schematic diagram of the three-dimensional structure of a self-propelled lettuce harvester;

[0022] Figure 2 It is a front view structural schematic diagram of a self-propelled lettuce harvester;

[0023] Figure 3 It is a left-side structural schematic diagram of a self-propelled lettuce harvester;

[0024] Figure 4 It is a left-view stereoscopic structural schematic diagram of a self-propelled lettuce harvester;

[0025] Figure 5 It is a top-down perspective structural diagram of a self-propelled lettuce harvester;

[0026] Figure 6 It is a schematic diagram of the three-dimensional structure of a self-propelled lettuce harvester when viewed from above;

[0027] Figure 7 It is a top view connection diagram of the rotating mechanism and the lifting mechanism;

[0028] Figure 8 It is a bottom-up connection diagram of the rotating mechanism and the lifting mechanism;

[0029] Fig. 9 This is a schematic diagram of the three-dimensional structure of the mechanical gripper when viewed from above;

[0030] Fig.10 It is a schematic diagram of the three-dimensional structure of the mechanical gripper from a top view;

[0031] Fig.11 A top view of the connection relationship between the rotating mechanism and the cutting electric saw;

[0032] Fig.12 The diagram is a bottom view of the connection relationship between the rotating mechanism and the cutting electric saw.

[0033] Explanation of the reference numerals in the accompanying drawings: 1. Wheel-driven trolley; 2. Electric lifting column; 3. Laser rangefinder; 4. Cutting electric saw; 5. Universal wheel; 6. Driving wheel; 7. Driving gear; 8. Driven gear; 9. Driving motor; 10. Ball linear guide; 11. Ball slider; 12. Mounting plate; 13. Rotating motor; 14. Guide bushing; 15. First connecting rod; 16. Second connecting rod; 17. Third connecting rod; 18. Fourth connecting rod; 19. Rotating motor; 20. Rotating gear; 21. Follower gear; 22. Mechanical clamp; 23. Clamp connecting rod; 24. Clamp motor; 25. Clamp gear set; 26. Chuck. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] This embodiment provides a self-propelled lettuce harvester. Figures 1 to 12 As shown, it includes a walking device, a detection device, a leaf-pulling device and a cutting device. Among them:

[0036] The traveling device can travel along the ridge extension direction in the ridge ditch of the lettuce field. When the traveling device travels along the ridge, it has a certain travel distance with the lettuce on the ridge. Usually, the travel distance is 500-550mm, but this is only a reference value and can be modified according to actual conditions.

[0037] The detection device is installed on the walking device. The detection device includes a remote rangefinder. The remote rangefinder can move toward the ridge and perpendicular to the extension direction of the ridge during the movement along the ridge. The detection device is mainly used to locate the lettuce on the ridge and determine the movement and stop of the walking device, that is, the walking device stops when the measurement value of the remote rangefinder is equal to the travel distance. When the mechanical gripper 22 is at the position of the lettuce on the ridge, it can be located exactly on the line connecting the remote rangefinder and the ranging lettuce. This arrangement can ensure that the stopping position of the walking device is exactly the position where the mechanical gripper 22 can correspond to the lettuce.

[0038] The leaf-pulling device includes a lifting mechanism, a linear translation mechanism, a telescopic mechanism and a mechanical clamp 22. The fixed end of the lifting mechanism is rotatably connected to the walking device, the rotation axis of the lifting mechanism is vertically arranged, the lifting end of the lifting mechanism is fixedly connected to the fixed end of the linear translation mechanism, the translation end of the linear translation mechanism is fixedly connected to the fixed end of the telescopic mechanism, the telescopic end of the telescopic mechanism is fixedly connected to the mechanical clamp 22, the extension direction of the telescopic end of the telescopic mechanism is vertically downward, and the mechanical clamp 22 is horizontally arranged with the jaws facing away from the rotation axis of the lifting mechanism;

[0039] The cutting device includes a cutting saw 4, which is rotatably connected to a traveling device. The rotation axis of the cutting saw is vertically arranged. The rotation radius of the cutting saw 4 is greater than the travel spacing to ensure that the lettuce on the ridge is within the rotation cutting range of the cutting saw 4. The cutting saw 4 has a preset cutting height with the bottom of the ridge ditch. The preset cutting height ensures that the cutting saw 4 cuts the root of the lettuce. The traveling device moves forward again when the cutting saw 4 completes cutting and recovery.

[0040] Working principle:

[0041] First, the walking device needs to be located in the ridge of the lettuce field; then, the walking device is started and begins to move in the extension direction of the ridge. The walking device can be directly set in advance at the travel spacing with the lettuce on the ridge, or the walking device can be automatically adjusted to be located at the travel spacing under the measurement of the detection device during the travel process; then, when the value measured by the detection device is the travel spacing, the walking device will automatically pause; then, the fixed end of the lifting mechanism rotates to make the jaws of the mechanical gripper 22 face the lettuce on the ridge, and the lifting end of the lifting mechanism drives the linear translation mechanism to rise, and the linear translation mechanism drives the telescopic mechanism to rise, and then drives the mechanical gripper 22. At this time, the telescopic mechanism is in a retracted state. When the mechanical gripper 22 reaches the height of the top of the lettuce, the lifting end of the lifting mechanism stops rising. The lifting height of the lifting end can be pre-designed according to the usual height of the lettuce. As long as it can be higher than The mechanical gripper 22 is positioned above the old leaves of the lettuce; then, the translation end of the horizontal mechanism moves toward the lettuce to drive the telescopic mechanism and the mechanical gripper 22, so that the jaws of the mechanical gripper 22 are buckled on the lettuce, and the mechanical gripper 22 clamps the lettuce; then, the telescopic end of the telescopic mechanism extends, and the mechanical gripper 22 moves downward from the top of the lettuce to pull off all the old leaves on the lettuce. When the mechanical gripper 22 reaches the root of the lettuce, the cutting saw 4 rotates out to cut the lettuce, and rotates after the cutting saw 4 rotates to the maximum path. The mechanical gripper 22 clamps the lettuce and, under the action of the lifting mechanism, the linear translation mechanism and the telescopic mechanism, rises and rotates to the side of the ridge furrow away from the ridge, and then the mechanical gripper 22 is released to harvest one lettuce; then, the walking device is started again to pull off the leaves and cut the next lettuce; finally, when the cutting of this row of lettuce is completed, the walking device is located next to the next row of lettuce until the preset number of rows is completed.

[0042] As a preferred embodiment, the walking device can be manually placed directly in the ditch beside each row of lettuce, or it can be remotely driven to the ditch beside each row of lettuce. For this purpose, a remote signal receiving device can be added to the walking device, and the walking device can be controlled through the controller of the walking device. The controller of the walking device also coordinates the cutting device, the leaf-pulling device, and the detection device.

[0043] In this embodiment, Figures 1 to 12 As shown, the walking device is a wheeled driving trolley 1, a crawler driving trolley or a multi-legged driving trolley.

[0044] The wheel-driven trolley 1 has various styles, and any style can be adopted. Then in this embodiment, as Figures 1 to 12 As shown, a specific form of wheeled driving trolley 1 is provided. The front of the wheeled driving trolley 1 has two universal wheels 5, and the rear of the wheeled driving trolley 1 has two driving wheels 6.

[0045] The two drive wheels 6 can be electric drive wheels. Specifically, the motor is directly connected to the axle of the drive wheel 6, and the speed control of the drive wheel 6 is realized through the electronic control system of the controller. Then, by making the two drive wheels 6 have different differentials and different grips, steering can be achieved. The motor driving the drive wheel 6 can take two forms: a hub motor (installed inside the drive wheel 6) or a wheel-side motor (installed on the outside of the drive wheel 6). Both forms of motors can integrate components such as brake discs, wheel hubs, and transmissions, so that the motor can directly drive the drive wheel 6.

[0046] There are several physical laws and equations involved in how electric motors work. Here are some of the key equations:

[0047] The law of electromagnetic induction (Faraday's law): ε = -N*(dΦ) / (dt), where ε is the induced electromotive force, N is the number of coil turns, Φ is the magnetic flux, and t is time. This formula describes the generation of induced electromotive force when the magnetic field changes.

[0048] Ampere force law (Lorentz force): F = I*L*B*sin(θ), where F is the electromagnetic force, I is the current intensity, L is the conductor length, B is the magnetic induction intensity, and θ is the angle between the current direction and the magnetic field direction. This formula describes the force exerted on the current in the magnetic field.

[0049] The torque formula of the motor is: T = K*I*Φ, where T is the electromagnetic torque, K is a constant related to the motor structure, I is the current intensity, and Φ is the magnetic flux. This formula describes the relationship between the torque generated by the motor and the current and magnetic flux.

[0050] Energy source: In an electric vehicle, the electric motor is usually connected to a battery or a supercapacitor, and these power sources provide current to the electric motor to achieve the rotation of the drive wheel 6.

[0051] The universal wheel 5 is a so-called movable caster, and its structure allows 360-degree horizontal rotation. Casters are a general term, including movable casters and fixed casters. Fixed casters do not have a rotating structure and cannot rotate horizontally but only vertically. These two types of casters are generally used in combination. For example, the structure of a trolley is two fixed wheels in the front and two movable universal wheels in the back near the push handle. This mechanical device has a universal wheel 5 installed on the front wheel and an electrically driven drive wheel 6 on the rear wheel. The universal wheel 5 can move the device in any direction without adjusting the direction, thereby greatly improving the maneuverability and operational flexibility. This is very important for mechanical equipment that needs to be operated in a small space. In addition, the structure of the universal wheel 5 gives it better stability and load-bearing capacity, because it can evenly distribute the weight to multiple wheels, which allows the universal wheel 5 to move on uneven surfaces and is also suitable for transporting heavy lettuce.

[0052] In this embodiment, Figures 1 to 12 As shown, the wheeled driving trolley 1 can be composed of a welded iron frame. The welded iron frame constitutes a hollow iron frame, which can reduce the weight of the vehicle body.

[0053] In this embodiment, Figures 1 to 12 As shown, the long-range distance meter is a laser distance meter 3, and the laser transmitter of the laser distance meter 3 needs to face the side ridge and perpendicular to the extension direction of the ridge when the walking device moves along the furrow. That is, if the detection device is a wheeled drive trolley 1, the laser distance meter 3 needs to be between the driving wheel 6 and the universal wheel 5, and the laser emitted by the laser transmitter of the laser distance meter 3 must always be perpendicular to the arrangement direction of the lettuce on the side ridge. When the laser emitted by the laser distance meter 3 is blocked by the lettuce, the laser distance meter 3 will display the distance measurement value. When the distance measurement value is within the travel distance, the walking device stops moving. Of course, the detection device can also use other forms of distance meters, such as sonar distance meters, infrared distance meters, etc., but the sonar method may cause more interference, so the laser distance meter 3 is generally selected.

[0054] Laser rangefinder 3 working principle:

[0055] (1) Laser emission: The laser rangefinder 3 emits a highly focused laser beam through a laser diode or laser.

[0056] (2) Beam emission and diffusion: After the laser beam is emitted from the laser rangefinder 3, it will propagate in the air and diffuse slightly. This is because the beam follows the propagation law of light and the light will scatter slightly.

[0057] (3) Beam irradiation target: The laser beam irradiates the surface of the target object.

[0058] (4) Reflected beam: Part of the laser beam is reflected by the target object and then returns to the laser rangefinder 3.

[0059] (5) Measurement time: The laser rangefinder 3 calculates the distance by measuring the time required from emitting laser light to receiving reflected light. This time is usually very short, measured in nanoseconds or picoseconds.

[0060] (6) Distance calculation: The laser rangefinder 3 uses the speed of light (the speed of light in a vacuum is about 300,000,000 meters per second) to calculate the distance between an object and the laser rangefinder 3. The distance is equal to the speed of light multiplied by half the time because light takes twice as long to make the round trip.

[0061] (7) The formula of laser rangefinder 3 is as follows:

[0062] D=(c×t) / 2

[0063] in:

[0064] D: indicates the distance between the measured target and the laser rangefinder 3.

[0065] c: represents the speed of light, usually taken as 299,792,458 meters per second.

[0066] t: represents the time interval from the emission to the reception of the laser pulse.

[0067] Data output: The laser rangefinder 3 outputs the measured distance data to the controller of the walking device for further processing or display.

[0068] In this embodiment, Figures 1 to 12 As shown, the lifting mechanism is an electric lifting column 2. The electric lifting column 2 adopts a conventional form on the market, as long as it can drive the linear translation mechanism to rise and fall.

[0069] Further, in this embodiment, if Figures 1 to 12 As shown, the electric lifting column 2 is rotatably connected to the traveling device through a rotating mechanism. The rotating mechanism includes a driving gear 7, a driven gear 8 and a driving motor 9. The driving motor 9 is fixedly connected to the traveling device (such as the wheeled driving trolley 1). The driving gear 7 is coaxially fixed to the output shaft of the driving motor 9. The output shaft of the driving motor 9 is vertically arranged, and can be vertically arranged upward or downward. The driven gear 8 is rotatably connected to the traveling device (such as the wheeled driving trolley 1). The driven gear 8 is meshed with the driving gear 7, and the electric lifting column 2 is fixedly connected to the driven gear 8. The output shaft of the driving motor 9 rotates, which can drive the driving gear 7 to rotate, and then drive the driven gear 8 to rotate, so as to realize the rotation of the electric lifting column 2, that is, to realize the rotation of the mechanical gripper 22, so as to turn the mechanical gripper 22 to between the remote rangefinder (laser transmitter head) of the detection device (such as the laser rangefinder 3) and the lettuce, that is, to the connection line between the remote rangefinder and the lettuce.

[0070] In this embodiment, Figures 1 to 12 As shown, a specific setting method of the electric lifting column 2 is provided. The specific electric lifting column 2 includes a rectangular inner sleeve and a rectangular outer sleeve. The rectangular inner sleeve is fixedly connected to the driven gear 8. A vertically arranged lead screw is rotatably connected inside the rectangular inner sleeve. A nut is threadedly connected to the lead screw. The rectangular outer sleeve is sleeved outside the rectangular inner sleeve, and the nut is rotatably connected to the rectangular outer sleeve. The lead screw is driven to rotate by the lead screw motor. When the lead screw rotates, the nut will move up and down, and then drive the rectangular outer sleeve to move up and down. The fixed end of the linear translation mechanism is fixed on the rectangular outer sleeve, which can drive the linear translation mechanism to rise and fall, and then drive the mechanical clamp 22 to rise and fall. An accelerator can be added between the lead screw motor and the lead screw, and the motor drives the reducer, which then drives the lead screw to rotate. The lead screw motor is controlled by a controller in the walking device.

[0071] In this embodiment, Figures 1 to 12As shown, the linear translation mechanism is a ball linear guide 10, and the fixed end of the telescopic mechanism is fixedly connected to the ball slider 11 on the ball linear guide 10. The ball slider 11 moves along the ball linear guide 10, which in turn drives the telescopic mechanism to move, and finally converts into horizontal movement of the mechanical gripper 22. The movement of the ball slider 11 is also controlled by the controller of the walking device. The ball linear guide 10 is fixedly installed on the lifting end of the lifting mechanism, such as the top of the lifting end of the electric lifting column 2, and further such as the top of the rectangular outer sleeve.

[0072] Further, in this embodiment, Figures 1 to 12 As shown, the telescopic mechanism includes a mounting plate 12, a rotating motor 13, a guide sleeve 14 and a connecting rod assembly. The mounting plate 12 is fixedly connected to the ball slider 11, and the rotating motor 13 and the guide sleeve 14 are installed on the mounting plate 12 in an upper and lower distribution. The output shaft of the rotating motor 13 is horizontally arranged and perpendicular to the extension direction of the ball linear guide 10. The guide sleeve 14 is vertically arranged. The connecting rod assembly includes a first connecting rod 15, a second connecting rod 16, a third connecting rod 17 and a fourth connecting rod 18, one end of the first connecting rod 15 is fixedly connected to the output shaft of the rotating motor 13, and the other end of the first connecting rod 15 is hinged to one end of the second connecting rod 16. The other end of the second connecting rod 16 is hinged to one end of the third connecting rod 17, and the other end of the third connecting rod 17 is fixedly connected to one end of the fourth connecting rod 18. The other end of the fourth connecting rod 18 is fixedly connected to the mechanical clamp 22. The third connecting rod 17 is slidably connected to the circular rod in the guide sleeve 14, and the length direction of the third connecting rod 17 and the fourth connecting rod 18 is the same. The output shaft of the rotary motor 13 rotates, which can drive the first connecting rod 15 to rotate, and then lift the second connecting rod 16, the third connecting rod 17, and the fourth connecting rod 18. The third connecting rod 17 can only move vertically up and down under the action of the guide sleeve 14, so the fourth connecting rod 18 can also only move vertically up and down, and finally converted into the up and down movement of the mechanical clamp 22 to achieve the leaf pulling. The above is a specific form of the telescopic mechanism for reference. Similarly, you can also choose not to use the above form, and use a telescopic mechanism commonly seen on the market, such as an electric telescopic rod.

[0073] The mechanical gripper 22 can be an existing mechanical gripper. There are many ways to drive the mechanical gripper 22, the most common of which are pneumatic drive and motor drive. In the pneumatically driven mechanical gripper 22, the compression and release of air are used to drive the movement of the gripper; while the motor-driven gripper can drive the movement of the gripper pointer through the rotation of the motor. Gripper shape: The mechanical gripper 22 has different gripper shapes, and common shapes include parallel grippers, angle grippers, three-finger grippers, etc. In this embodiment, as shown in FIG. Figures 1 to 12As shown, a motor is used to drive the mechanical clamp 22, and the clamp is in the form of a parallel clamp. Specifically, the mechanical clamp 22 includes a clamp link 23, a clamp motor 24, a clamp gear set 25, and a clamp head 26. The clamp motor 24 drives the clamp gear set 25, and then the clamp gear set 25 drives the clamp link 23 to move, which is converted into the opening and closing of the two clamp heads 26. Of course, the mechanical clamp 22 is only for reference, and other existing forms may also be used.

[0074] In this embodiment, Figures 1 to 12 As shown, the cutting device includes a rotating mechanism, which includes a rotating motor 19, a rotating gear 20, and a follower gear 21. The rotating motor 19 is installed on a traveling device (such as a wheeled driving trolley 1), and the output shaft of the rotating motor 19 is arranged vertically. The rotating gear 20 is coaxially fixedly connected to the output shaft of the rotating motor 19, and the follower gear 21 is meshed with the rotating gear 20. The follower gear 21 is rotationally connected to the traveling device (such as the wheeled driving trolley 1), and the cutting electric saw 4 is fixedly connected to the follower gear 21. The output shaft of the rotating motor 19 rotates, which can drive the rotating gear 20 to rotate, and then drive the follower gear 21 to rotate, so as to drive the cutting electric saw 4 to swing, and realize rotary cutting. As long as the lettuce is within the swing range of the cutting electric saw 4, the lettuce can be cut.

[0075] The cutting electric saw 4 can be a toothed chain saw. The electric energy is input by the lithium battery to drive the brushless motor to start; the trigger controls the input current to achieve the control of the speed; the brushless motor operates, the rotor rotates at high speed, outputs high speed and torque, and drives the sprocket to rotate; the sprocket rotates at high speed, driving the saw chain to move at high speed along the guide rail of the guide plate; the accuracy and wear resistance of the guide rail of the guide plate determine the movement stability of the saw chain; the saw chain is used for sawing at high speed; the sharpness of the saw chain teeth and the tension of the saw chain will affect the sawing efficiency. But we can start from some basic physical principles, such as power, speed, torque, etc., to understand the performance and working state of the electric chain saw.

[0076] For example, the relationship between the power (P) of the electric motor of the cutting electric saw 4 and its current (I), voltage (U) and power factor (cosφ) can be expressed by the following formula:

[0077] P=U×I×cosφ

[0078] In addition, the relationship between the motor speed (n) and its pole number (P), power supply frequency (f) and slip rate (s) can be expressed by the following formula:

[0079] n=60f(1-s) / P

[0080] However, these formulas mainly describe the basic performance of the motor and cannot directly reflect the cutting effect of the electric chain saw. The cutting effect of the electric chain saw is also affected by many factors such as the design, material, working state of the chain and saw blade, and the properties of the cut material.

[0081] Transmission ratio = torque ÷ 9550 ÷ motor power × motor power input revolutions ÷ usage coefficient

[0082] Transmission ratio = the value of the rotation speed of the rotating gear 20 divided by the rotation speed of the driven gear 21 = the inverse of the ratio of their pitch circle diameters. That is: i = n1 / n2 = z2 / z1.

[0083] In this embodiment, Figures 1 to 12 As shown in the figure, through the coordinated work of various devices, positioning, leafing, cutting and storage of lettuce can be completed quickly and accurately. The efficiency of lettuce harvesting can be greatly improved. According to actual measurements, 64 kg to 100 kg of lettuce can be harvested per hour, which is twice as efficient as manual labor, realizing the mechanization of lettuce harvesting.

[0084] This self-propelled lettuce harvester is small in size, and its maximum size after folding is no more than 1 meter, which is convenient for carrying by agricultural electric tricycles; each functional module adopts mature products in the market, with high reliability and low price, and the total price of batch sales does not exceed 6,000 yuan; it uses rechargeable batteries as the power source, which is pollution-free and has low energy consumption cost, and the cost can be recovered after one season of use. This work is simple to use and operate. It is transported to the lettuce planting site by an agricultural tricycle and placed on the side of the lettuce row. Turn on the switch to automatically walk and detect lettuce autonomously. After detecting the lettuce plant, the equipment pauses, and the leaf-pulling device automatically rotates to suspend the mechanical gripper 22 on the upper end of the lettuce, and pulls down the old leaves. After it is in place, it clamps the root of the lettuce, and the cutting device rotates to cut off the root of the lettuce. Then the mechanical gripper 22 lifts, turns and releases the gripper, and the harvest of one lettuce is completed. The cycle operation is carried out until the harvest of a row of lettuce is completed. At this time, the equipment can be manually remotely operated to turn or walk backward to complete the harvest of the next row of lettuce.

[0085] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A self-propelled lettuce harvester, characterized in that: include A walking device capable of traveling in a ridge furrow of a lettuce field along a ridge extension direction, wherein the walking device has a traveling distance from the lettuces on the ridge; A detection device, the detection device is installed on the walking device, the detection device includes a remote distance meter, and the remote distance meter can be directed toward the ridge and perpendicular to the extension direction of the ridge during the process of traveling along the ridge; A leaf-pulling device, the leaf-pulling device comprises a lifting mechanism, a linear translation mechanism, a telescopic mechanism and a mechanical clamp, the fixed end of the lifting mechanism is rotatably connected to the walking device, the rotation axis of the lifting mechanism is vertically arranged, the lifting end of the lifting mechanism is fixedly connected to the fixed end of the linear translation mechanism, the translation end of the linear translation mechanism is fixedly connected to the fixed end of the telescopic mechanism, the telescopic end of the telescopic mechanism is fixedly connected to the mechanical clamp, the extension direction of the telescopic end of the telescopic mechanism is vertically downward, the mechanical clamp is horizontally arranged with its jaws facing away from the rotation axis of the lifting mechanism, and the mechanical clamp can be located on the line connecting the remote rangefinder and the lettuce being measured when its jaws are facing the position of the lettuce on the ridge; The cutting device comprises a cutting saw rotatably connected to the walking device, the rotation axis of the cutting saw is vertically arranged, the rotation radius of the cutting saw is larger than the travel spacing, and the cutting saw and the bottom of the ditch have a preset cutting height capable of cutting the roots of lettuce.

2. The self-propelled lettuce harvester according to claim 1, characterized in that: The walking device is a wheeled driving trolley, a crawler driving trolley or a multi-legged driving trolley.

3. The self-propelled lettuce harvester according to claim 2, characterized in that: The front of the wheeled driving trolley is provided with two universal wheels, and the rear of the wheeled driving trolley is provided with two driving wheels.

4. The self-propelled lettuce harvester according to claim 1, characterized in that: The long-range distance meter is a laser distance meter, and the laser emission head of the laser distance meter faces the side ridge and is perpendicular to the extension direction of the ridge.

5. The self-propelled lettuce harvester according to claim 1, characterized in that: The lifting mechanism is an electric lifting column.

6. The self-propelled lettuce harvester according to claim 5, characterized in that: The electric lifting column is rotatably connected to the traveling device via a rotating mechanism, the rotating mechanism comprises a driving gear, a driven gear and a driving motor, the driving motor is fixedly connected to the traveling device, the driving gear is coaxially fixed to the output shaft of the driving motor, the output shaft of the driving motor is vertically arranged, the driven gear is rotatably connected to the traveling device, the driven gear is meshed with the driving gear, and the electric lifting column is fixedly connected to the driven gear.

7. The self-propelled lettuce harvester according to claim 6, characterized in that: The electric lifting column includes a rectangular inner sleeve and a rectangular outer sleeve. The rectangular inner sleeve is fixedly connected to the driven gear. A vertically arranged lead screw is rotatably connected inside the rectangular inner sleeve. A nut is threadedly connected to the lead screw. The rectangular outer sleeve is sleeved outside the rectangular inner sleeve, and the nut is rotatably connected to the rectangular outer sleeve.

8. The self-propelled lettuce harvester according to claim 1, characterized in that: The linear translation mechanism is a ball linear guide rail, and the fixed end of the telescopic mechanism is fixedly connected to the ball slider on the ball linear guide rail.

9. The self-propelled lettuce harvester according to claim 8, characterized in that: The telescopic mechanism includes a mounting plate, a rotating motor, a guide sleeve and a connecting rod assembly, the mounting plate is fixedly connected to the ball slider, the rotating motor and the guide sleeve are installed on the mounting plate in an upper and lower distribution, the output shaft of the rotating motor is horizontally arranged and perpendicular to the extension direction of the ball linear guide, the guide sleeve is vertically arranged, the connecting rod assembly includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the first connecting rod is fixedly connected to the output shaft of the rotating motor, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, the other end of the third connecting rod is fixedly connected to one end of the fourth connecting rod, the other end of the fourth connecting rod is fixedly connected to the mechanical clamp, the third connecting rod is slidably connected to the circular rod in the guide sleeve, and the length directions of the third connecting rod and the fourth connecting rod are the same.

10. The self-propelled lettuce harvester according to claim 1, characterized in that: The cutting device includes a rotating mechanism, which includes a rotating motor, a rotating gear, and a follower gear. The rotating motor is installed on the traveling device, the output shaft of the rotating motor is vertically arranged, the rotating gear is coaxially fixedly connected to the output shaft of the rotating motor, the follower gear is meshed with the rotating gear, the follower gear is rotatably connected to the traveling device, and the cutting electric saw is fixedly connected to the follower gear.

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