Small-sized Chinese chive harvesting equipment with precise cutting and automatic bundling functions

Abstract

The utility model relates to the technical field of Chinese chive harvesting equipment, and provides small Chinese chive harvesting equipment with precise cutting and automatic bundling, the equipment consists of an upper rack and a lower rack, and the rotation of the upper rack relative to the lower rack is realized through a slewing mechanism. The upper rack is provided with a righting mechanism, a conveying mechanism and a bundling mechanism, and the lower rack is provided with a cutting mechanism and a steering mechanism. The righting mechanism gathers the Chinese chives through a grain lifter of a cambered surface structure, the conveying mechanism stably transits the Chinese chives through a sponge synchronous belt, and the bundling mechanism achieves automatic bundling through a supporting claw mechanism and a rubber band clamping claw. And the cutting mechanism adopts a blade lifting mechanism and a blade driving mechanism to realize accurate cutting. The steering mechanism adopts the Ackerman steering principle, and steering efficiency and stability are improved. The equipment is high in adaptability, harvesting efficiency and automation degree, the labor cost is effectively reduced, and the agricultural production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of leek harvesting equipment, in particular to a small leek harvesting equipment capable of accurate cutting and automatic bundling. Background Art

[0002] In recent years, China's agriculture has developed rapidly, and the output and output value of vegetables have exceeded that of grains, making China one of the world's largest vegetable producers. As an important vegetable ingredient, leek also has certain medicinal value, and its planting area and output are also growing continuously. Although the scale of leek cultivation continues to expand, the demand for mechanized production has not been fully met. In particular, for low-growing clustered plants such as leek, existing equipment is difficult to adapt, resulting in crop damage and increased difficulty in subsequent processing.

[0003] At present, domestic leek harvesting mainly relies on manual labor and simple harvesting equipment. However, manual harvesting leads to high production costs and low harvesting efficiency, which limits the development speed of the industrial chain. There are also some leek harvesting equipment on the existing market, which have relatively simple functions, low automation level, poor adaptability, insufficient cutting accuracy, and no bundling function. At the same time, most of the existing harvesting equipment is mainly single-row harvesting, and the cutting height cannot be adjusted, which is easy to cause damage to the leek, affecting the quality and increasing the difficulty and cost of subsequent processing. In addition, when operating in the farmland, the existing equipment uses the traditional wheel U-turn steering method, which is less efficient in the limited steering space, affecting the efficiency of changing rows and continuing to harvest.

[0004] Therefore, how to design a leek harvesting equipment with strong adaptability, high harvesting efficiency and high degree of automation to improve agricultural production efficiency has become an urgent problem to be solved. Utility Model Content

[0005] In order to solve the problems existing in the background technology, the utility model provides a small leek harvesting device with precise cutting and automatic bundling, which includes an upper frame and a lower frame, and the upper frame and the lower frame are rotatably connected through a rotary mechanism, wherein the upper frame is installed with:

[0006] A straightening mechanism, the straightening mechanism comprising two straw supporters installed at the front end of the upper frame; the straw supporters have a curved surface structure;

[0007] The conveying mechanism comprises two sponge synchronous belts arranged corresponding to the straw supporter, the sponge synchronous belts are connected to an upper pulley arranged horizontally at the top in a twisted state, and are connected to a lower pulley arranged vertically at the bottom; a conveying channel is formed between the two sponge synchronous belts;

[0008] The strapping mechanism comprises a strapping groove installed below the conveying mechanism, a transverse movement mechanism installed on the upper frame, and a claw mechanism connected to the transverse movement mechanism;

[0009] The lower rack is equipped with:

[0010] A cutting mechanism, the cutting mechanism comprising a blade lifting mechanism and a blade driving mechanism connected to the blade lifting mechanism, and a blade connected to the blade driving mechanism;

[0011] The steering mechanism includes a connecting plate, a slide rail installed on the lower frame and a steering motor, wherein the steering motor is connected to the steering gear through a rotating shaft; a sliding block slidably connected to the slide rail is provided at the bottom of the connecting plate, a rack meshing with the steering gear is provided above the connecting plate, and the two ends of the connecting plate are connected to the wheels through hinges.

[0012] In the preferred embodiment, the rotating mechanism includes a rotating pinion mounted on the upper frame, a rotating motor and a rotating gear mounted on the lower frame. The rotating pinion and the rotating gear are meshed with each other. The rotating motor drives the rotating pinion to rotate around the rotating gear, thereby driving the upper frame to rotate relative to the lower frame.

[0013] In a preferred solution, the conveying mechanism also includes a conveying motor and a pulley shaft, two upper pulleys are installed on the pulley shaft, the conveying motor is connected to the pulley shaft via a synchronous belt, and the two pulley shafts are driven by gear meshing.

[0014] In a preferred solution, a guide plate is provided on the bundling groove along the direction of the conveying mechanism.

[0015] In a preferred solution, the transverse movement mechanism includes an X-axis transverse movement mechanism installed on the upper frame, and a Y-axis transverse movement mechanism is installed on the X-axis transverse movement mechanism.

[0016] In the preferred embodiment, the claw mechanism includes a claw motor, a first cross plate, a central axis, a second cross plate and a plurality of clamps. One end of the central axis passes through the center hole of the first cross plate and is connected to the second cross plate, and the other end of the central axis is connected to the claw motor through a connecting rod; each clamp is hinged to the first cross plate and the second cross plate.

[0017] In a preferred solution, a rubber band clamping claw is provided at the end of the clamping claw.

[0018] The beneficial effects achieved by the utility model are:

[0019] First, the utility model designs a cambered structure of the leeks, which realizes efficient gathering and erection of the leeks during the harvesting process, and provides sufficient conditions for subsequent cutting operations.

[0020] Second, the conveying mechanism of the utility model adopts two sponge conveyor belts arranged in a twisted state, which not only increases the friction of the conveyor belts, but also enhances their elasticity, thereby achieving a smooth transition of the leeks from the vertical to the horizontal direction.

[0021] Third, the utility model combines the harvesting and bundling functions into one, and designs a device that can bundle and harvest instantly. This innovation significantly reduces the manpower and time costs of the subsequent bundling process, and improves the overall harvesting efficiency. The leeks directly enter the bundling trough through the conveying device. When a certain amount of leeks accumulate in the trough, the side support and grasping mechanism uses the rubber band claws to open the pre-stored rubber bands to complete the bundling of the leek roots. After bundling is completed, the support and grasping mechanism will take out the bundled leeks for subsequent manual collection;

[0022] Fourth, considering that the equipment is operated in the farmland, it needs to deal with the limited turning space of the fuselage. In order to improve the efficiency when continuing to harvest leeks in a row, the utility model cancels the traditional wheel U-turn steering method. On the contrary, the upper fuselage is turned around by using a slewing bearing, so that the equipment can be operated freely in a small space, which significantly improves the harvesting efficiency. In addition, the steering system adopts the Ackerman steering principle, and the flexible steering of the wheels is realized through the cooperation of gear racks and hinges. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0024] Figure 2 It is a schematic diagram of the upper rack and its installation structure;

[0025] Figure 3 This is a schematic diagram of the lower rack and its installation structure. Figure 1 ;

[0026] Figure 4 This is a schematic diagram of the upper rack and its installation structure. Figure 2 ;

[0027] Figure 5 It is a schematic diagram of the cutting mechanism structure;

[0028] Figure 6 It is a schematic diagram of the conveying mechanism structure;

[0029] Figure 7 The structure of the strapping mechanism Figure 1 ;

[0030] Figure 8 The structure of the strapping mechanism Figure 2 ;

[0031] Fig. 9 The structure of the strapping mechanism Figure 3 ;

[0032] Fig.10 The steering mechanism structure is shown in Figure 1. Figure 1 ;

[0033] Fig.11 The steering mechanism structure is shown in Figure 1. Figure 2 .

[0034] Numbers in the figure:

[0035] 1. Straightening mechanism; 11. Straightening device; 2. Cutting mechanism; 21. Blade lifting mechanism; 211. Lifting motor; 22. Blade driving mechanism; 221. Driving motor; 23. Blade; 3. Conveying mechanism; 31. Sponge synchronous belt; 32. Lower pulley; 33. Upper pulley; 34. Pulley shaft; 4. Strapping mechanism; 41. Transverse movement mechanism; 411. X-axis transverse movement mechanism; 412. Y-axis transverse movement mechanism; 42. Claw mechanism; 421. Claw motor; 422. Connecting rod; 423, first cross plate; 424, middle axis; 425, second cross plate; 426, clamping claw; 4261, rubber band clamping claw; 43, bundling groove; 44, guide plate; 5, steering mechanism; 51, steering motor; 52, steering gear; 53, rack; 54, hinge; 55, connecting plate; 56, slide rail; 57, slider; 6, rotating mechanism; 61, rotating small gear; 62, rotating large gear; 63, rotating motor; 7, upper frame; 8, lower frame. DETAILED DESCRIPTION

[0036] The technical solution of the utility model will be clearly and completely described below in conjunction with the drawings in the utility model. In addition, the forms of the various structures recorded in the following embodiments are merely illustrative, and the utility model is not limited to the various structures recorded in the following embodiments. All other implementations obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the utility model.

[0037] Reference Figure 1-Figure 11 A small-scale leek harvesting equipment with precise cutting and automatic bundling comprises an upper frame 7 and a lower frame 8, which are rotatably connected with each other through a slewing mechanism 6. The slewing mechanism 6 comprises a slewing pinion 61 mounted on the upper frame 7, a slewing motor 63 and a slewing gear 62 mounted on the lower frame 8. The slewing pinion 61 is meshed with the slewing gear 62. The slewing motor 63 drives the slewing pinion 61 to rotate around the slewing gear 62, thereby driving the upper frame 7 to rotate relative to the lower frame 8.

[0038] A straightening mechanism 1 is installed on the upper frame 7, and the straightening mechanism 1 includes two straw supporters 11 installed at the front end of the upper frame 7; the straw supporters 11 have a curved surface structure; a conveying mechanism 3, and the conveying mechanism 3 includes two sponge synchronous belts 31 arranged corresponding to the straw supporters 11, and the sponge synchronous belts 31 are connected to a horizontally arranged upper pulley 33 at the top in a twisted state, and are connected to a vertically arranged lower pulley 32 at the bottom; a transmission channel is formed between the two sponge synchronous belts 31; the conveying mechanism 3 also includes a conveying motor and a pulley shaft 34, two upper pulleys 33 are installed on the pulley shaft 34, the conveying motor is connected to the pulley shaft 34 through a synchronous belt, and the two pulley shafts 34 are driven by gear meshing.

[0039] The strapping mechanism 4 includes a strapping groove 43 installed below the conveying mechanism 3, a lateral movement mechanism 41 installed on the upper frame 7, and a claw mechanism 42 connected to the lateral movement mechanism 41; the strapping groove 43 is provided with a guide plate 44 along the direction of the conveying mechanism 3. The lateral movement mechanism 41 includes an X-axis lateral movement mechanism 411 installed on the upper frame 7, and a Y-axis lateral movement mechanism 412 is installed on the X-axis lateral movement mechanism 411. The claw mechanism 42 includes a claw motor 421, a first cross plate 423, a central axis 424, a second cross plate 425, and a plurality of clamps 426, one end of the central axis 424 passes through the center hole of the first cross plate 423 and is connected to the second cross plate 425, and the other end of the central axis 424 is connected to the claw motor 421 through a connecting rod 422; each clamp 426 is hinged to the first cross plate 423 and the second cross plate 425. The end of the clamp 426 is provided with a rubber band clamp 4261. The claw motor 421 drives the connecting rod 422 and the middle shaft 424 to extend and retract to realize the opening and contraction of the clamping claw 426, so as to achieve the bundling and clamping of the leeks.

[0040] The lower frame 8 is provided with a cutting mechanism 2 and a steering mechanism 5. The cutting mechanism 2 includes a blade lifting mechanism 21, a blade driving mechanism 22 connected to the blade lifting mechanism 21, and a blade 23 connected to the blade driving mechanism 22; the steering mechanism 5 includes a connecting plate 55, a slide rail 56 installed on the lower frame 8, and a steering motor 51, and the steering motor 51 is connected to the steering gear 52 through a rotating shaft; a slider 57 slidably connected to the slide rail 56 is provided at the bottom of the connecting plate 55, a rack 53 meshing with the steering gear 52 is provided above the connecting plate 55, and two ends of the connecting plate 55 are connected to wheels through hinges 54.

[0041] The utility model realizes efficient gathering and erection of leeks during harvesting through two curved surface structured straw supports 11, providing sufficient conditions for subsequent cutting operations. The conveying mechanism 3 uses two sponge conveyor belts arranged in a twisted state, which not only increases the friction of the conveyor belt, but also enhances its elasticity.

[0042] Thus, a smooth transition from vertical to horizontal direction of leeks is achieved. Leeks directly enter the bundling groove 43 through the conveying device. When a certain amount of leeks accumulate in the groove, the side support and grasping mechanism opens the pre-stored rubber band through the rubber band claw 4261 to complete the bundling of the leeks roots. After bundling is completed, the support and grasping mechanism takes out the bundled leeks for subsequent manual collection;

[0043] The upper body is turned around by using a slewing bearing, so that the equipment can be operated freely in a small space, which significantly improves the harvesting efficiency. The slewing mechanism 6 includes a slewing pinion 61 installed on the upper frame 7, a slewing motor 63, and a slewing gear 62 installed on the lower frame 8. The slewing pinion 61 and the slewing gear 62 are meshed with each other. The slewing motor 63 drives the slewing pinion 61 to rotate around the slewing gear 62, driving the upper frame 7 to rotate relative to the lower frame 8. In addition, the steering system adopts the Ackerman steering principle, and the flexible steering of the wheels is achieved through the cooperation of the gear rack 53 and the hinge 54.

[0044] The utility model is a small-sized leek harvesting device with precise cutting and automatic bundling. It is also equipped with a laser beam sensor, an ultrasonic sensor, a visual sensor and a corresponding control module. After the device is started, the control system performs a self-check and initializes all sensors and actuators. After the calibration is completed, the device enters a standby state and is ready to start working. The straightening mechanism 1 is started, and the laser beam sensor detects the density of the leek in real time, and adjusts the width of the straw supporter 11 to accurately straighten the leek. The ultrasonic sensor detects the position of the cutter in real time and transmits the data to the control system. According to the sensor data, the PID control algorithm is used to adjust the height of the cutting mechanism 2 to achieve precise cutting. The cut leek is transmitted to the bundling device through the conveying device, and the claw mechanism 42 is started to open the rubber band to bundle the leek. After bundling is completed, the bundled leek is discharged and prepared for subsequent processing or transportation. During the field travel, the visual sensor monitors the growth position of the leek in real time, and the control system continuously updates the sensor data and the prediction model based on the model prediction control technology, and adjusts and operates the direction through the steering mechanism 5 and the sleek mechanism 6 to ensure that the device walks along the preset leek harvesting route.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A small leek harvesting device with precise cutting and automatic bundling, characterized in that: It includes an upper frame and a lower frame, which are rotatably connected with each other through a slewing mechanism, wherein the upper frame is equipped with: A straightening mechanism, the straightening mechanism comprising two straw supporters installed at the front end of the upper frame; the straw supporters have a curved surface structure; The conveying mechanism comprises two sponge synchronous belts arranged corresponding to the straw supporter, the sponge synchronous belts are connected to an upper pulley arranged horizontally at the top in a twisted state, and are connected to a lower pulley arranged vertically at the bottom; a conveying channel is formed between the two sponge synchronous belts; The strapping mechanism comprises a strapping groove installed below the conveying mechanism, a transverse movement mechanism installed on the upper frame, and a claw mechanism connected to the transverse movement mechanism; The lower rack is equipped with: A cutting mechanism, the cutting mechanism comprising a blade lifting mechanism and a blade driving mechanism connected to the blade lifting mechanism, and a blade connected to the blade driving mechanism; The steering mechanism includes a connecting plate, a slide rail installed on the lower frame and a steering motor, wherein the steering motor is connected to the steering gear through a rotating shaft; a sliding block slidably connected to the slide rail is provided at the bottom of the connecting plate, a rack meshing with the steering gear is provided above the connecting plate, and the two ends of the connecting plate are connected to the wheels through hinges.

2. The small-sized leek harvesting equipment with precise cutting and automatic bundling according to claim 1 is characterized in that: The rotary mechanism includes a rotary pinion mounted on the upper frame, a rotary motor and a rotary gear mounted on the lower frame. The rotary pinion and the rotary gear are meshed with each other. The rotary motor drives the rotary pinion to rotate around the rotary gear, thereby driving the upper frame to rotate relative to the lower frame.

3. The small-sized leek harvesting device with precise cutting and automatic bundling according to claim 1 is characterized in that: The conveying mechanism also includes a conveying motor and a pulley shaft. Two upper pulleys are installed on the pulley shaft. The conveying motor is connected to the pulley shaft through a synchronous belt. The two pulley shafts are driven by gear meshing.

4. The small-sized leek harvesting equipment with precise cutting and automatic bundling according to claim 1 is characterized in that: A guide plate along the direction of the conveying mechanism is arranged on the bundling groove.

5. The small-sized leek harvesting device with precise cutting and automatic bundling according to claim 1 is characterized in that: The transverse movement mechanism comprises an X-axis transverse movement mechanism installed on the upper frame, and a Y-axis transverse movement mechanism is installed on the X-axis transverse movement mechanism.

6. The small-sized leek harvesting device with precise cutting and automatic bundling according to claim 1 is characterized in that: The claw mechanism includes a claw motor, a first cross plate, a central axis, a second cross plate and a plurality of clamps. One end of the central axis passes through the center hole of the first cross plate and is connected to the second cross plate, and the other end of the central axis is connected to the claw motor through a connecting rod; each clamp is hinged to the first cross plate and the second cross plate.

7. The small-sized leek harvesting device with precise cutting and automatic bundling according to claim 1 is characterized in that: The end of the clamping jaw is provided with a rubber band clamping jaw.

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