Asparagus lettuce plant harvesting device

Abstract

The utility model discloses an asparagus lettuce plant harvesting device, which belongs to the technical field of agricultural machinery and comprises a picking vehicle body, a harvesting vehicle hopper, a lifting type combined cutter and a chain type harvesting assembly, the picking vehicle body comprises a movable chassis, a harvesting support and a cutter support, the harvesting support and the cutter support are connected onto the movable chassis, and the cutter support comprises a cutter longitudinal frame and a cutter transverse frame; the harvesting vehicle hopper comprises at least one harvesting bin body and a harvesting chute; the lifting type combined cutter comprises at least two leaf removing hob assemblies and a root cutting assembly between the leaf removing hob assemblies, and lifting driving assemblies are arranged between the two ends of the cutter transverse frame and the corresponding cutter longitudinal frames respectively. The chain type harvesting assembly is correspondingly arranged on the harvesting support, the chain type harvesting assembly comprises at least one chain transmission mechanism and a harvesting clamping jaw connected with the chain transmission mechanism, and the chain type harvesting assembly drives the harvesting clamping jaw to periodically grab the asparagus lettuce and put the asparagus lettuce into the harvesting bin body in the rotating process; according to the harvesting device, leaf removal, root cutting, clamping transportation and throwing of the asparagus lettuce can be integrated, and the harvesting efficiency of the asparagus lettuce is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, in particular to a lettuce plant harvesting device. Background Art

[0002] Lettuce is also called lettuce. It is a variety of lettuce in the genus Lactuca in the Asteraceae family that can form fleshy tender stems. It is an annual or biennial herb, 25 to 100 cm tall, with vertically extending roots, upright stems, solitary, and upper conical inflorescence branches. All stems are white. It is also known as stem lettuce, lettuce shoots, green shoots, and lettuce. The aboveground stems are edible, with white-green stem skin, tender and tender stems, and emerald green young stems. The fleshy tender stems are mainly edible. When harvesting lettuce, it is necessary to remove the leaves first, then cut the lettuce, and then put it on the market for sale. Manual harvesting of lettuce requires manual use of a leaf remover to remove the leaves of the lettuce, and then use a sickle to cut off the roots of the lettuce, which is inefficient.

[0003] In view of this, the use of mechanical harvesting of lettuce can greatly improve the harvesting efficiency. The main research and development focus in China is on issues such as quality control, adaptability and cost control in the process of lettuce harvesting. Among them, the single-row side-mounted lettuce harvester developed by Shi Zhiming and others from Chengdu Academy of Agricultural and Forestry Sciences is based on the semi-suspended traction of the tractor. The disc cutter is electrically adjusted and the harvesting table is designed to achieve lettuce cutting (Shi Zhiming, Sun Cong, Lei Fengyun, Chen Xian, Cao Liang, Zheng Shudong. Design and Experiment of Single-row Side-mounted Lettuce Harvester [J]. Chinese Journal of Agricultural Mechanization, 2023, 44(07): 26-32.). There are few lettuce harvesting machines abroad. The American company Shifang has launched mechanical equipment for harvesting stem and leaf vegetables. It uses electric push rods and screw motors to complete the movement of the mechanical claws on the x, y, and z axes, uses the mechanical claws to complete the extraction, and uses a conveyor belt with spikes to transport the lettuce. The harvester developed by Tursunjiang Aisan and others from Tarim University uses coarse corrugated clamping conveyor belt technology to achieve orderly bundling (Tursunjiang Aisan. Design and experiment of self-propelled leaf vegetable harvester [D]. Supervisor: Wang Xufeng. Tarim University, 2024.).

[0004] In terms of picking lettuce, most of the existing lettuce harvesters only cut the lettuce, and leaf removal is still a manual operation; in terms of harvesting, the conveyor belt is used for clamping and transmission. Although this harvesting method improves the harvesting efficiency compared with manual labor, the lettuce is affected by factors such as shape, size, ridge slope changes and harvesting methods (for example, due to different growth, the stem ends of lettuces are inconsistent in size; rhizome plants are difficult to ensure uprightness during harvesting, and are not easy to harvest accurately; during the growth process, "ridge depressions" appear due to the growth of rhizomes, and the lettuce sinks, or the ridge slopes become "convex" due to the poor water retention capacity of the ridge slopes, and the roots are exposed, so that the existing harvesting machinery is difficult to ensure that the net harvest of a single lettuce plant is sufficient during the harvesting process; for example, in the conveyor belt clamping transportation method, the belt drive load capacity is weak, so the clamping capacity is weak, the belt drive center distance is too long and it is easy to vibrate and affect the harvesting accuracy, and the small pulley wrap angle is too large and it is easy to slip). Most machines need to use engines to pull the entire machine, and can only adapt to specific terrains. They are difficult to use in South my country. They are highly polluting and easily damage drainage ditches. As for lettuce, which needs to be removed from the leaves and roots before it can be sold, most harvesters cannot do this, and manual removal of the leaves and roots will cause a lot of waste. Utility Model Content

[0005] Technical problem to be solved: In view of the problems existing in the use of lettuce harvesters in the prior art, the utility model provides a lettuce plant harvesting device with a high degree of automation, which can realize leaf removal, root cutting, clamping and transportation, and delivery of lettuce in one, thereby improving the harvesting efficiency of lettuce.

[0006] Technical solution: The utility model discloses a lettuce plant harvesting device, which comprises:

[0007] A picking vehicle body, the picking vehicle body comprising a mobile chassis and a chute bracket fixedly arranged on the upper front side of the mobile chassis, a harvesting bracket and a tool bracket arranged at the front end of the harvesting bracket are arranged at the front end of the mobile chassis, and the tool bracket comprises tool longitudinal frames arranged oppositely on both sides and a tool transverse frame arranged at the front side of the tool longitudinal frame;

[0008] A harvesting bucket, which is fixedly mounted on a mobile chassis; the harvesting bucket comprises at least one harvesting bin and a harvesting chute correspondingly mounted at the front end of the harvesting bin;

[0009] A lifting combined tool, the lifting combined tool comprising at least two leaf removal hob assemblies spaced apart on a tool cross frame, a root cutting assembly being arranged between the two groups of leaf removal hob assemblies; lifting drive assemblies being arranged between the two ends of the tool cross frame and the corresponding tool longitudinal frame, respectively, the lifting drive assemblies being able to drive the tool cross frame to perform lifting motions along the tool longitudinal frame;

[0010] A chain harvesting component, which is correspondingly arranged on a harvesting bracket; the chain harvesting component comprises at least one group of chain transmission mechanisms and a harvesting clamp connected to the chain transmission mechanism; the chain transmission mechanism is inclinedly arranged along the harvesting bracket, and its bottom end is correspondingly arranged between two groups of leaf removal roller assemblies, and its high end is correspondingly arranged at the front end of a harvesting chute; during the rotation of the chain harvesting component, the harvesting clamp is driven to periodically grab the lettuce and move it from the lifting combination tool to the harvesting chute and put it into the harvesting bin.

[0011] Preferably, the lifting drive assembly comprises a steering gear fixing seat arranged at the top end of the tool longitudinal frame and a steering gear arranged in the steering gear fixing seat, the front end of the driving shaft of the steering gear is connected with a driving crank, the outer edge of the driving crank is hinged to the upper end of the driving connecting rod, and the lower end of the driving connecting rod is hinged with a connecting plate, and the two ends of the tool cross frame are respectively fixed to the outer side of the connecting plate;

[0012] A guide slide block is fixedly connected to the inner side of the connecting plate, a guide slide rail is arranged on the tool longitudinal frame, and the guide slide block is correspondingly slidably connected to the guide slide rail.

[0013] Preferably, the defoliating cutter assembly includes a mounting guide rail fixedly connected to a tool cross frame and a mounting slide block slidably connected to the mounting guide rail, the mounting slide block is fixedly connected to a motor seat, a defoliating motor is fixedly mounted on the motor seat, and a defoliating cutter is fixedly connected to a driving shaft end of the defoliating motor; the defoliating cutter includes a cutter shaft and a plurality of cutter blades fixedly connected to the cutter shaft in the circumferential direction.

[0014] Preferably, the root cutting assembly comprises a U-shaped seat fixedly mounted on the tool cross frame, a root cutting drive motor is arranged at the front end of the U-shaped seat, and a drive shaft of the root cutting drive motor is transmission-connected to the horizontally arranged root cutting blade through a reduction transmission assembly.

[0015] Preferably, a support end rod is fixedly connected to the center of the front end of the tool cross frame, and an ultrasonic detection component is arranged at the front end of the support end rod. The ultrasonic detection component includes an ultrasonic fixing seat and an ultrasonic detection circuit board fixedly arranged on the ultrasonic fixing seat, and an ultrasonic probe is arranged correspondingly on the bottom surface of the front end of the ultrasonic detection circuit board.

[0016] Preferably, the chain transmission mechanism comprises a harvesting drive motor arranged on one side of the chute support, a driving shaft end of the harvesting drive motor is connected to a driving main shaft, and a driving sprocket is fixedly sleeved on the driving main shaft;

[0017] A transmission main shaft arranged parallel to the driving main shaft is rotatably arranged on the harvesting support through a bearing seat, a transmission sprocket corresponding to the driving sprocket is mounted on the transmission main shaft, and a driving chain is mounted on the driving sprocket and the transmission sprocket;

[0018] The harvesting support is also provided with a tensioning main shaft, a tensioning sprocket is fixedly sleeved on the tensioning main shaft, and the driving chain support is sleeved on the tensioning sprocket.

[0019] Preferably, the driving chain is formed by connecting a plurality of transmission links, and chain plate connecting blocks are correspondingly arranged on both sides of each transmission link;

[0020] The harvesting clamp comprises a clamp base fixedly connected to the chain plate connecting block, a clamp hinge is fixedly connected to the clamp base, two hinges of the clamp hinge are respectively fixedly connected to clamp blocks, a flexible clamp is installed inside the clamp block, and a clamping notch is arranged between the two groups of clamp blocks; a bull's eye universal ball is arranged outside the upper end of the clamp block;

[0021] The chain harvesting assembly is provided with aluminum side plates on both sides of the driving chain, the bull's eye universal ball is supported on the inner side of the aluminum side plate, and the outer end of the front end of the aluminum side plate is fixedly connected with a guide plate.

[0022] Preferably, the harvesting device also includes a rotary tillage and ridging assembly, which includes a rotary tillage assembly, a ridging assembly and a rotary tillage drive mechanism; the rotary tillage assembly is correspondingly arranged on the front side of the mobile chassis, the ridging assembly is correspondingly arranged in the middle of the mobile chassis, and the rotary tillage assembly is transmission-connected to the ridging assembly through the rotary tillage drive mechanism.

[0023] Preferably, the rotary tillage assembly comprises a rotary tillage main shaft and a plurality of rotary tillage cutters fixedly sleeved on the rotary tillage main shaft, the rotary tillage cutters comprise a flange coupling and two sets of cutter handle connecting plates fixedly connected to the flange coupling, a plurality of rotary tillage cutter handles are arranged at equal intervals in the circumferential direction between the two sets of cutter handle connecting plates, and a tillage cutter is fixedly connected to the outer end of the rotary tillage cutter handle via a connecting angle seat; two adjacently arranged tillage cutters are distributed on different sides of the rotary tillage cutter handle;

[0024] The ridging assembly includes a ridging main shaft and a ridging crankshaft mounted on the ridging main shaft, the ridging crankshaft includes at least one group of drainage channel ridging wheels and ridging wheels relatively arranged on the outside and inside of the ridging main shaft, and at least one crankshaft ring is arranged between the drainage channel ridging wheels and the ridging wheels.

[0025] Preferably, the rotary tillage drive mechanism includes a rotary tillage drive motor arranged on a mobile chassis, a power sprocket is arranged at the outer end of the drive shaft of the rotary tillage drive motor, a rotary tillage transmission sprocket is arranged at the outer end of the rotary tillage main shaft, a ridging transmission sprocket is arranged at the outer end of the ridging main shaft, and the power sprocket, ridging transmission sprocket and rotary tillage transmission sprocket are connected by a rotary tillage transmission chain.

[0026] Compared with the prior art, the utility model has at least the following beneficial effects:

[0027] 1. The utility model has a high degree of automation and can realize the removal of lettuce leaves, cutting roots, clamping transportation and delivery in one, thereby improving the harvesting efficiency of lettuce;

[0028] 2. The harvesting device combines rotary tillage and ridging with lettuce harvesting. The removed leaves and roots are turned over and fertilizers are buried by the tilling blade, and then the ridging crankshaft is used to retain water and fertilizer, making full use of the assembly space of the picking vehicle body, with a compact structure. The picking vehicle body is built with aluminum alloy profiles, and various functional devices can be conveniently installed on the picking vehicle body assembled with aluminum alloy profiles. The connection is simple and firm, and it is convenient to replace and maintain structures such as the ultrasonic detection component, the leaf removal roller component, the root cutting component, and the rotary tillage and ridging component;

[0029] 3. The two leaf-removing roller assemblies provided in cooperation with the lifting and lowering combination tool can realize the removal of lettuce leaves during the lifting and moving process, and as the whole machine moves, the lifting and lowering combination tool moves forward, and the root cutting assembly can cut off the root of the leaf-removing lettuce, so as to facilitate the subsequent extraction and transportation of the lettuce stem by the clamping claw; the leaf-removing roller rotates at a high speed under the drive of the leaf-removing motor to realize the leaf-removing operation of the lettuce; in addition, the mounting slider of the leaf-removing roller assembly can slide left and right along the mounting guide rail, so as to adjust the distance between the two sets of leaf-removing roller assemblies to meet the harvesting requirements of lettuces of different diameters;

[0030] 4. When the servo of the lifting drive assembly drives the driving crank to rotate, the connecting plate can be pushed up and down along the guide rail through the driving connecting rod, so that the tool cross frame and the leaf removal hob assembly thereon can be adjusted in the height direction, so as to complete the leaf removal action for lettuces of different ridge heights, and realize 360-degree leaf removal through the corrugated tool;

[0031] 5. The chain-type harvesting assembly moves between the two aluminum side plates along with the driving chain, and the harvesting jaws are supported between the two aluminum side plates through the bull's eye universal balls on both sides thereof. The aluminum side plates provide an inward clamping force for the jaw blocks, so that the clamping notch provides a good clamping force for the lettuce stems. At the same time, the jaws are installed with flexible materials to avoid damage to the lettuce. As the driving chain rotates, when the harvesting jaws move to the highest point, the bull's eye universal balls of the harvesting jaws break away from the contact with the aluminum side plates, and the clamping force of the two jaw blocks is insufficient. The lettuce breaks away from the clamping notch under the action of its own gravity and can fall into the collection chute and enter the harvesting bin for storage.

[0032] 6. The chain transmission mechanism has a good tension, which can reduce the shaking of the driving chain during the process of clamping and conveying lettuce. The harvesting claws installed on the driving chain have stable transmission and strong load capacity, and have high transmission efficiency. Compared with the traditional conveyor belt clamping, the use of harvesting claws to clamp the lettuce stems can better maintain the posture of the high-standing plants, which is convenient for the orderly collection of lettuce stems;

[0033] 7. The leaf removal roller assembly and chain harvesting assembly of the harvesting device can be adjusted in width to meet the harvesting of lettuce root plants of different sizes;

[0034] 8. The lifting combined tool is equipped with an ultrasonic detection component. The ultrasonic probe faces the lettuce planting ridge and can measure the height of the tool cross frame and the defoliation roller assembly thereon from the ground. The angle control is achieved through the real-time PWM wave signal, so that the height of the defoliation roller assembly is adjusted by controlling the rotation of the servo, thereby ensuring the consistency of the lettuce defoliation and increasing the net harvest of lettuce.

[0035] 9. The harvesting device integrates a rotary tillage and ridging component. The tillage knife can be used to break up the lettuce leaves and rhizomes and mix them with the rotary tillage to loosen the soil, turn over the soil and bury fertilizer, thereby improving the utilization rate of agricultural production. The ridging component is used to realize the ridging operation, conserve water and fertilizer, and facilitate subsequent planting. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the three-dimensional structure of the harvesting device of the utility model;

[0037] Figure 2 for Figure 1 A top view of the structure of the middle harvesting device;

[0038] Figure 3 for Figure 1 The main view of the structure of the middle harvesting device;

[0039] Figure 4 for Figure 1 Schematic diagram of the structure of the harvesting bucket;

[0040] Figure 5 for Figure 1 Schematic diagram of the installation structure of the picking vehicle body and its accessories;

[0041] Figure 6 for Figure 5 Schematic diagram of the installation structure of the mid-rotation tillage and ridging assembly;

[0042] Figure 7 for Figure 6 Schematic diagram of the structure of the middle ridging component;

[0043] Figure 8 for Figure 6 Schematic diagram of the three-dimensional structure of the rotary tillage assembly;

[0044] Fig. 9 for Figure 1 The main view of the middle lifting combined tool structure;

[0045] Fig.10 for Fig. 9 Schematic diagram of the three-dimensional structure of the middle lifting combined tool;

[0046] Fig.11 for Fig.10 Schematic diagram of the three-dimensional structure of the middle deleafing cutter assembly;

[0047] Fig.12 for Fig.10 Schematic diagram of the three-dimensional structure of the lifting drive assembly;

[0048] Fig.13 for Fig. 9 Schematic diagram of the three-dimensional structure of the mid-cut root assembly;

[0049] Fig.14 for Fig.10 Schematic diagram of the structure of the ultrasonic detection component;

[0050] Fig.15 for Figure 1 Schematic diagram of the structure of the mid-chain harvesting assembly;

[0051] Fig.16 for Fig.15 Schematic diagram of the structure of the middle harvesting jaw from the first perspective;

[0052] Fig.17 for Fig.10 Schematic diagram of the structure of the harvesting jaw from the second perspective.

[0053] Reference numerals:

[0054] 100. Harvesting device;

[0055] 1. Picking vehicle body; 11. Mobile chassis; 12. Travel wheels; 13. Travel drive motor; 14. Chute bracket; 15. Harvesting bracket; 16. Tool bracket; 161. Tool vertical bracket; 162. Tool horizontal bracket; 163. Support end rod;

[0056] 2. Harvesting bucket; 21. Harvesting bin; 22. Harvesting chute;

[0057] 3. Ultrasonic detection assembly; 31. Ultrasonic fixing seat; 32. Ultrasonic detection circuit board; 33. Ultrasonic probe;

[0058] 4. Lifting combination tool;

[0059] 5. Chain harvesting assembly; 51. Harvesting drive motor; 52. Driving spindle; 53. Driving sprocket; 54. Bearing seat; 55. Driving chain; 551. Transmission chain link; 552. Chain plate connecting block; 56. Harvesting jaws; 561. Jaw base; 562. Jaw hinge; 563. Jaw block; 564. Clamping notch; 565. Bull's eye universal ball; 57. Driving spindle; 58. Driving sprocket; 59. Tensioning spindle; 510. Tensioning sprocket; 511. Guide plate; 512. Aluminum side plate;

[0060] 6. Rotary tillage and ridging components;

[0061] 7. Rotary tillage assembly; 71. Rotary tillage main shaft; 72. Rotary tillage tool; 721. Flange coupling; 722. Tool handle connecting plate; 723. Rotary tillage tool handle; 724. Connecting angle seat; 725. Tillage tool;

[0062] 8. Ridging assembly; 81. Ridging main shaft; 82. Ridging crankshaft; 821. Crankshaft ring body; 822. Drainage channel ridging wheel; 823. Ridging wheel;

[0063] 9. Rotary tillage driving mechanism; 91. Rotary tillage driving motor; 92. Power sprocket; 93. Ridging drive sprocket; 94. Rotary tillage drive sprocket; 95. Rotary tillage drive chain;

[0064] 10. Leaf removal hob assembly; 101. Installation guide rail; 102. Installation slide block; 103. Motor seat; 104. Leaf removal motor; 105. Leaf removal hob; 1051. Hob shaft; 1052. Hob blade;

[0065] 17. Lifting drive assembly; 171. Servo fixing seat; 172. Servo; 173. Driving crank; 174. Driving connecting rod; 175. Connecting plate; 176. Guide rail; 177. Guide slide block;

[0066] 18. Root cutting assembly; 181. U-shaped seat; 182. Root cutting drive motor; 183. Speed ​​reduction transmission assembly; 184. Root cutting blade. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical scheme and advantages of the embodiments of the present utility model clearer, the following will be combined with the attached Figures 1 to 17 The technical scheme of the embodiment of the utility model is clearly and completely described. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the described embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the utility model.

[0068] like Figures 1 to 5As shown, a lettuce plant harvesting device according to an embodiment of the utility model, the harvesting device 100 includes a harvesting vehicle body 1, a harvesting vehicle bucket 2, a lifting combination tool 4 and a chain harvesting assembly 5. The harvesting vehicle body 1 includes a mobile chassis 11 and a chute bracket 14 fixedly arranged on the upper front side of the mobile chassis 11, a harvesting bracket 15 and a tool bracket 16 arranged at the front end of the harvesting bracket 15 are arranged at the front end of the mobile chassis 11, and the tool bracket 16 includes a tool longitudinal frame 161 arranged oppositely on both sides and a tool transverse frame 162 arranged at the front side of the tool longitudinal frame 161; wherein, the mobile chassis 11, the chute bracket 14, the harvesting bracket 15, and the tool bracket 16 are all assembled by aluminum alloy profiles, and the aluminum alloy profiles can be assembled with fixed sliders by fixing screws. Travel wheels 12 are respectively arranged on both sides of the front and rear ends of the mobile chassis 11, and the travel wheels arranged at the rear end of the mobile chassis 11 are cooperated with a travel drive motor 13, and the travel drive motor 13 can drive the harvesting vehicle body 1 to travel.

[0069] like Figure 4 As shown, the harvesting bucket 2 is fixedly arranged on the mobile chassis 11, and the harvesting bucket 2 includes at least one harvesting bin 21 and a harvesting chute 22 correspondingly arranged at the front end of the harvesting bin 21. In an optional embodiment, the harvesting bucket 2 is divided into two harvesting bins 21 along its width direction, and the corresponding harvesting chutes 22 include two respectively arranged at the front ends of the harvesting bin 21; the height of the harvesting chute 22 is higher than the height of the harvesting bin 21, and the harvesting chute 22 is supported on the chute bracket 14. After the lettuce is put into the harvesting chute 22, it slides along the harvesting chute 22 to the harvesting bin 21 for storage.

[0070] like Figures 1 to 3 and Figures 8 and 9 As shown, the lifting combined tool 4 includes at least two leaf removal cutter assemblies 10 spaced apart on the tool cross frame 162, and a root cutting assembly 18 is arranged between the two groups of leaf removal cutter assemblies 10. In an optional embodiment, the leaf removal cutter assemblies 10 include four leaf removal cutter assemblies spaced apart along the tool cross frame 162, and a root cutting assembly 18 is correspondingly arranged between every two leaf removal cutter assemblies 10. When the lifting combined tool 4 is correspondingly harvesting two rows of lettuce, the two leaf removal cutter assemblies 10 arranged in coordination can achieve the removal of lettuce leaves during the lifting and moving process, and as the lifting combined tool 4 moves forward, the root cutting assembly 18 can cut off the root of the leaf removal lettuce to facilitate the subsequent transportation of the lettuce stems.

[0071] like Fig.11As shown, the defoliation cutter assembly 10 includes a mounting rail 101 fixedly connected to the tool cross frame 162 and a mounting slide block 102 slidably connected to the mounting rail 101, a motor seat 103 is fixedly connected to the mounting slide block 102, a defoliation motor 104 is fixedly installed on the motor seat 103, and a defoliation cutter 105 is fixedly connected to the driving shaft end of the defoliation motor 104. The defoliation cutter 105 includes a cutter shaft 1051 and a plurality of cutter blades 1052 fixedly connected to the circumferential direction of the cutter shaft 1051, and the outer edge of the cutter blade 1052 is provided with a wavy cutting edge along the length direction. The defoliation cutter 105 rotates at a high speed driven by the defoliation motor 104 to realize the defoliation operation of the lettuce. In addition, the mounting slide block 102 of the defoliation cutter assembly 10 can slide left and right along the mounting rail 101, so that the spacing between the two groups of defoliation cutter assemblies 10 can be adjusted to meet the harvesting requirements of lettuces of different diameters.

[0072] like Fig.13 As shown, the root cutting component 18 includes a U-shaped seat 181 fixedly mounted on the tool cross frame 162, and a root cutting drive motor 182 is arranged at the front end of the U-shaped seat 181. The driving shaft of the root cutting drive motor 182 is arranged vertically upward, and the driving shaft of the root cutting drive motor 182 is connected to the horizontally arranged root cutting blade 184 through a reduction transmission component 183. The reduction transmission component 183 adopts a matching gear set to realize the deceleration function. When the root cutting component 18 moves forward with the harvesting device 100, it contacts the root of the lettuce to realize the root cutting action of the lettuce.

[0073] like Fig.10 and Fig.12 As shown, a lifting drive assembly 17 is respectively arranged between the two ends of the tool cross frame 162 and the corresponding tool longitudinal frame 161, and the lifting drive assembly 17 can drive the tool cross frame 162 to perform lifting and lowering actions along the tool longitudinal frame 161. Specifically, the lifting drive assembly 17 includes a steering engine fixing seat 171 arranged at the top of the tool longitudinal frame 161 and a steering engine 172 arranged in the steering engine fixing seat 171, a driving shaft at the front end of the steering engine 172 is connected with a driving crank 173, the outer edge of the driving crank 173 is hinged with the upper end of the driving connecting rod 174, and a connecting plate 175 is hinged at the lower end of the driving connecting rod 174, and the two ends of the tool cross frame 162 are respectively fixed to the outside of the connecting plate 175; a guide slider 177 is fixedly connected to the inside of the connecting plate 175, and a guide rail 176 is arranged on the tool longitudinal frame 161, and the guide slider 177 is correspondingly slidably connected to the guide rail 176. When the servo 172 drives the driving crank 173 to rotate, the connecting plate 175 can be pushed up and down along the guide rail 176 through the driving connecting rod 174, so that the tool cross frame 162 and the leaf removal roller assembly 10 thereon can be adjusted in the height direction to realize the leaf removal action of the lettuce.

[0074] like Fig.14As shown, the front center of the tool cross frame 162 is fixedly connected with a support end rod 163, and the front end of the support end rod 163 is provided with an ultrasonic detection component 3, which includes an ultrasonic fixing seat 31 and an ultrasonic detection circuit board 32 fixedly arranged on the ultrasonic fixing seat 31. The front bottom surface of the ultrasonic detection circuit board 32 is provided with an ultrasonic probe 33, which faces the lettuce planting ridge and can measure the height of the tool cross frame 162 and the defoliation roller assembly 10 thereon from the ground, thereby adjusting the height of the defoliation roller assembly 10 by controlling the rotation of the servo 172 to ensure the consistency of the defoliation of the lettuce. It should be noted that the ultrasonic detection component 3 can also be replaced by a more accurate sensor such as a radar to detect the height of the ridge, and provide a signal to the single-chip microcomputer to control the rotation of the servo to adjust the working height of the defoliation roller assembly 10.

[0075] like Figures 1 to 3 As shown, the chain harvesting assembly 5 is correspondingly arranged on the harvesting bracket 15; the chain harvesting assembly 5 includes at least one group of chain transmission mechanisms and a harvesting clamp 56 connected to the chain transmission mechanism, the chain transmission mechanism is inclined along the harvesting bracket 15, the bottom end of which is correspondingly arranged between the two groups of leaf removal roller assemblies 10, and the high end of which is correspondingly arranged at the front end of the harvesting chute 22; during the rotation of the chain harvesting assembly 5, it drives the harvesting clamp 56 to periodically grab the lettuce and move it from the lifting combination tool 4 to the harvesting chute 22 and put it into the harvesting bin 21. In an optional embodiment, the chain transmission mechanism includes two groups respectively arranged corresponding to the two groups of harvesting chutes 22, and the chain transmission mechanism includes a harvesting drive motor 51 arranged on one side of the chute bracket 14, and the drive shaft end of the harvesting drive motor 51 is connected to a drive main shaft 52, and a drive sprocket 53 is fixedly mounted on the drive main shaft 52; a transmission main shaft 57 arranged parallel to the drive main shaft 52 is rotatably arranged on the harvesting bracket 15 through a bearing seat 54, and a transmission sprocket 58 corresponding to the drive sprocket 53 is mounted on the transmission main shaft 57, and a drive chain 55 is mounted on the drive sprocket 53 and the transmission sprocket 58; a tensioning main shaft 59 is also provided on the harvesting bracket 15, and a tensioning sprocket 510 is fixedly mounted on the tensioning main shaft 59, and the drive chain 55 is supported and mounted on the tensioning sprocket 510. Among them, the drive main shaft 52, the transmission main shaft 57 and the tensioning main shaft 59 are all fixedly connected to the picking vehicle body 1 through the bearing seat 54. When working, the rotation direction of the driving chain 55 is Figure 3 or Figure 5The harvesting jaw 56 is mounted on the corresponding chain plate connecting block 552. As the driving chain 55 completes the clockwise movement, the opening and closing of the harvesting jaw 56 is achieved by controlling the distance between the harvesting jaw 56 and the aluminum side plate. When the harvesting jaw 56 is not performing the grabbing work, the support spring arranged between the two jaw blocks 563 ensures that it is opened at a certain angle. The harvesting jaw 56 performs periodic movement with the driving chain 55. During the clockwise rotation, the guide plate 511 is used to make the clamping jaw block 56 gradually begin to retract, and the lifting combination tool 4 is used to complete the rooting and leafing of the lettuce stems, and then the aluminum side plate is used to control the harvesting jaw 56 to maintain the clamping state until the harvesting jaw 56 is separated from the guide of the aluminum side plate, and finally transported to the rear harvesting bucket 2 to complete the double-row harvesting of lettuce; in addition, this type of chain transmission mechanism has a good tension degree, which can reduce the shaking of the drive chain 55 during the lettuce clamping and transportation process, and has a high transmission efficiency.

[0076] like Figure 1 and Figures 15-17 As shown, the driving chain 55 is connected by a plurality of transmission chain links 551, and a chain plate connecting block 552 is correspondingly arranged on both sides of each transmission chain link 551. The harvesting jaw 56 comprises a jaw base 561 fixedly connected to the chain plate connecting block 552, a jaw hinge 562 is fixedly connected to the jaw base 561, and jaw blocks 563 are respectively fixedly connected to the two hinges of the jaw hinge 562, and a flexible clamp is installed on the inner side of the jaw block, and a clamping notch 564 is arranged between the two groups of jaw blocks 563, and a supporting spring (not shown in the figure) is arranged at the inner root of the clamping notch 564; a bull's eye universal ball 565 is arranged on the outer side of the upper end of the jaw block 563. The chain harvesting assembly 5 is located on both sides of the driving chain 55 and is correspondingly provided with aluminum side plates 512, and the bull's eye universal ball 565 is correspondingly supported on the inner side of the aluminum side plate 512, and the front end of the aluminum side plate 512 is fixedly connected to the guide plate 511. During operation, as the drive chain 55 moves between the two aluminum side plates 512, the harvesting jaws 56 are supported between the two aluminum side plates 512 through the bull's eye universal balls 565 on both sides thereof, and the aluminum side plates 512 provide the jaw blocks 563 with an inward clamping force, so that the clamping notches 564 provide a good clamping force for the lettuce stems. As the drive chain 55 rotates, when the harvesting jaws 56 move to a high point, the bull's eye universal balls 565 of the harvesting jaws 56 are out of contact with the aluminum side plates 512, and the clamping force of the two jaw blocks 563 is insufficient, and the lettuce is out of the clamping notches 564 under the action of its own gravity and can fall into the collection chute 22 and enter the collection bin 21 for storage.

[0077] like Figures 1 to 8As shown, the harvesting device 100 also includes a rotary tillage ridging assembly 6, which includes a rotary tillage assembly 7, a ridging assembly 8 and a rotary tillage driving mechanism 9; the rotary tillage assembly 7 is correspondingly arranged at the front side of the mobile chassis 11, and the ridging assembly 8 is correspondingly arranged in the middle of the mobile chassis 11, and the rotary tillage assembly 7 is transmission-connected to the ridging assembly 8 through the rotary tillage driving mechanism 9. The rotary tillage assembly 7 includes a rotary tillage main shaft 71 and a plurality of rotary tillage cutters 72 fixedly sleeved on the rotary tillage main shaft 71, and the rotary tillage cutters 72 include a flange coupling 721 and two sets of knife handle connecting plates 722 fixedly connected to the flange coupling 721, and a plurality of rotary tillage cutter handles 723 are arranged circumferentially at equal intervals between the two sets of knife handle connecting plates 722, and a tillage cutter 725 is fixedly connected to the outer end of the rotary tillage cutter handle 723 through a connecting angle seat 724; two adjacently arranged tillage cutters 725 are distributed on the opposite sides of the rotary tillage cutter handle 723. In an optional embodiment, the rotary tillage tool 72 includes two groups arranged along both sides of the rotary tillage main shaft 71, and the rotary tillage tool 72 corresponds to the rear side of the chain transmission mechanism respectively. After the lifting combination tool 4 completes the root cutting of the lettuce stems, the rotary tillage component 7 can rotary tillage and loosen the soil on the ridges, and crush the lettuce roots and return them to the field; the rotary tillage tool handle 723 includes four equally spaced ones arranged along the circumference of the tool handle connecting plate 722, and the tillage knives 725 arranged at the outer ends of the two relatively arranged rotary tillage tool handles 723 are in the same direction, and the tillage knives 725 arranged at the outer ends of the two adjacent rotary tillage tool handles 723 are in opposite directions. Such a set rotary tillage tool 72 can efficiently realize the rotary tillage and loosening of the ridges and the cutting and crushing of the lettuce roots.

[0078] like Figure 7 As shown, the ridging assembly 8 includes a ridging main shaft 81 and a ridging crankshaft 82 mounted on the ridging main shaft 81, and the ridging crankshaft 82 includes at least one set of drainage channel ridging wheels 822 and ridging wheels 823 arranged opposite to each other on the outside and inside of the ridging main shaft 81, and at least one crankshaft ring 821 is arranged between the drainage channel ridging wheels 822 and the ridging wheels 823. In an optional embodiment, the ridging crankshaft 82 includes drainage channel ridging wheels 822 arranged along both ends of the ridging main shaft 81 and two ridging wheels 823 arranged adjacent to each other in the middle of the ridging main shaft 81, and two crankshaft rings 821 are arranged between the drainage channel ridging wheels 822 and the corresponding ridging wheels 823, and by setting a suitable number of crankshaft rings 821, ridges of different widths can be applied; after the rotary tillage assembly 7 completes rotary tillage and loosening of the existing ridges, the ridging crankshaft 82 can apply two sets of ridges at a time.

[0079] like Figure 6As shown, the rotary tillage driving mechanism 9 includes a rotary tillage driving motor 91 disposed on the mobile chassis 11, a power sprocket 92 is disposed at the outer end of the driving shaft of the rotary tillage driving motor 91, a rotary tillage transmission sprocket 94 is disposed at the outer end of the rotary tillage main shaft 71, and a ridging transmission sprocket 93 is disposed at the outer end of the ridging main shaft 81, and the power sprocket 92, the ridging transmission sprocket 93 and the rotary tillage transmission sprocket 94 are connected by a rotary tillage transmission chain 95. When working, the rotary tillage driving motor 91 can drive the rotary tillage main shaft 71 and the ridging main shaft 81 to rotate through the rotary tillage transmission chain 95 to complete the rotary tillage and ridging operations of the existing ridges, which is convenient for subsequent planting.

[0080] It should be noted that the harvesting device 100 can be operated in conjunction with a forward vehicle, or a driving cabin can be set on the harvesting vehicle body 1 for independent operation. The harvesting device 100 also includes a power battery pack and an electronic control system, and can also integrate wireless communication systems such as Bluetooth to meet the remote control of the harvesting device. The existing technology can be integrated to realize its functions, which is not the protection content of this application and will not be described in detail here.

[0081] The above are preferred implementations of the present utility model. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present utility model. These improvements and modifications should also be regarded as the protection scope of the present utility model.

Claims

1. A lettuce plant harvesting device, characterized in that: The harvesting device (100) comprises: A picking vehicle body (1), the picking vehicle body (1) comprising a mobile chassis (11) and a chute support (14) fixedly arranged on the upper front side of the mobile chassis (11), a harvesting support (15) and a tool support (16) arranged at the front end of the harvesting support (15), and the tool support (16) comprising tool longitudinal frames (161) arranged opposite to each other on two sides and a tool transverse frame (162) arranged at the front side of the tool longitudinal frame (161); A harvesting bucket (2), the harvesting bucket (2) being fixedly arranged on the mobile chassis (11); the harvesting bucket (2) comprising at least one harvesting bin (21) and a harvesting chute (22) correspondingly arranged at the front end of the harvesting bin (21); A lifting type combined tool (4), the lifting type combined tool (4) comprising at least two leaf removal roller cutter assemblies (10) arranged at intervals on a tool cross frame (162), a root cutting assembly (18) being arranged between the two groups of leaf removal roller cutter assemblies (10); lifting drive assemblies (17) are respectively arranged between the two ends of the tool cross frame (162) and the corresponding tool longitudinal frame (161), the lifting drive assembly (17) being capable of driving the tool cross frame (162) to perform a lifting action along the tool longitudinal frame (161); A chain harvesting assembly (5), wherein the chain harvesting assembly (5) is correspondingly arranged on a harvesting support (15); the chain harvesting assembly (5) comprises at least one group of chain transmission mechanisms and a harvesting clamp (56) connected to the chain transmission mechanism; the chain transmission mechanism is arranged obliquely along the harvesting support (15), the bottom end of which is correspondingly arranged between two groups of leaf removal roller assemblies (10), and the top end of which is correspondingly arranged at the front end of a harvesting chute (22); during the rotation of the chain harvesting assembly (5), the harvesting clamp (56) is driven to periodically grab the lettuce and move it from the lifting combination tool (4) to the harvesting chute (22) and put it into the harvesting bin (21).

2. The lettuce plant harvesting device according to claim 1, characterized in that: The lifting drive assembly (17) comprises a steering gear fixing seat (171) arranged at the top end of the tool longitudinal frame (161) and a steering gear (172) arranged in the steering gear fixing seat (171); the front end of the driving shaft of the steering gear (172) is connected to a driving crank (173); the outer edge of the driving crank (173) is hinged to the upper end of a driving connecting rod (174); the lower end of the driving connecting rod (174) is hinged to a connecting plate (175); and the two ends of the tool transverse frame (162) are respectively fixed to the outside of the connecting plate (175); A guide slide block (177) is fixedly connected to the inner side of the connecting plate (175), a guide slide rail (176) is provided on the tool longitudinal frame (161), and the guide slide block (177) is correspondingly slidably connected to the guide slide rail (176).

3. The lettuce plant harvesting device according to any one of claims 1 to 2, characterized in that: The defoliating roller assembly (10) comprises a mounting rail (101) fixedly connected to a cutter cross frame (162) and a mounting slide block (102) slidably connected to the mounting rail (101); a motor seat (103) is fixedly connected to the mounting slide block (102); a defoliating motor (104) is fixedly mounted on the motor seat (103); a defoliating roller (105) is fixedly connected to a driving shaft end of the defoliating motor (104); and the defoliating roller (105) comprises a roller shaft (1051) and a plurality of roller blades (1052) fixedly connected to the roller shaft (1051) in a circumferential direction.

4. The lettuce plant harvesting device according to claim 3, characterized in that: The root cutting assembly (18) comprises a U-shaped seat (181) fixedly mounted on a cutter cross frame (162); a root cutting drive motor (182) is arranged at the front end of the U-shaped seat (181); a drive shaft of the root cutting drive motor (182) is transmission-connected to a horizontally arranged root cutting blade (184) via a reduction transmission assembly (183).

5. The lettuce plant harvesting device according to claim 3, characterized in that: A support end rod (163) is fixedly connected to the center of the front end of the tool cross frame (162); an ultrasonic detection assembly (3) is arranged at the front end of the support end rod (163); the ultrasonic detection assembly (3) comprises an ultrasonic fixing seat (31) and an ultrasonic detection circuit board (32) fixedly arranged on the ultrasonic fixing seat (31); an ultrasonic probe (33) is correspondingly arranged on the bottom surface of the front end of the ultrasonic detection circuit board (32).

6. The lettuce plant harvesting device according to claim 3, characterized in that: The chain transmission mechanism comprises a harvesting drive motor (51) arranged on one side of the chute support (14); a drive shaft end of the harvesting drive motor (51) is connected to a drive main shaft (52), and a drive sprocket (53) is fixedly mounted on the drive main shaft (52); A transmission main shaft (57) arranged parallel to the driving main shaft (52) is rotatably arranged on the harvesting support (15) via a bearing seat (54); a transmission sprocket (58) corresponding to the driving sprocket (53) is sleeved on the transmission main shaft (57); and a driving chain (55) is sleeved on the driving sprocket (53) and the transmission sprocket (58); The harvesting support (15) is also provided with a tensioning main shaft (59), a tensioning sprocket (510) is fixedly sleeved on the tensioning main shaft (59), and the driving chain (55) is supported and sleeved on the tensioning sprocket (510).

7. The lettuce plant harvesting device according to claim 6, characterized in that: The driving chain (55) is formed by connecting a plurality of transmission chain links (551), and chain plate connecting blocks (552) are correspondingly arranged on both sides of each transmission chain link (551); The harvesting clamp (56) comprises a clamp base (561) fixedly connected to the chain plate connecting block (552); a clamp hinge (562) is fixedly connected to the clamp base (561); two hinges of the clamp hinge (562) are respectively fixedly connected to clamp blocks (563); a flexible clamp is installed on the inner side of the clamp block; a clamping notch (564) is provided between the two groups of clamp blocks (563); a bull's eye universal ball (565) is provided on the outer side of the upper end of the clamp block (563); The chain harvesting assembly (5) is provided with aluminum side plates (512) on both sides of the driving chain (55), the bull's eye universal ball (565) is supported on the inner side of the aluminum side plates (512), and the front end of the aluminum side plates (512) is fixedly connected to the outer end thereof.

8. The lettuce plant harvesting device according to claim 1, characterized in that: The harvesting device (100) further comprises a rotary tillage and ridging assembly (6), wherein the rotary tillage and ridging assembly (6) comprises a rotary tillage assembly (7), a ridging assembly (8) and a rotary tillage driving mechanism (9); the rotary tillage assembly (7) is correspondingly arranged at the front side of the mobile chassis (11), the ridging assembly (8) is correspondingly arranged at the middle part of the mobile chassis (11), and the rotary tillage assembly (7) is transmission-connected to the ridging assembly (8) via the rotary tillage driving mechanism (9).

9. The lettuce plant harvesting device according to claim 8, characterized in that: The rotary tillage assembly (7) comprises a rotary tillage main shaft (71) and a plurality of rotary tillage cutters (72) fixedly sleeved on the rotary tillage main shaft (71); the rotary tillage cutters (72) comprise a flange coupling (721) and two sets of cutter handle connecting plates (722) fixedly connected to the flange coupling (721); a plurality of rotary tillage cutter handles (723) are arranged at equal intervals in the circumferential direction between the two sets of cutter handle connecting plates (722); the outer ends of the rotary tillage cutter handles (723) are fixedly connected to tillage cutters (725) via connecting angle seats (724); and two adjacently arranged tillage cutters (725) are distributed on opposite sides of the rotary tillage cutter handles (723); The ridging assembly (8) comprises a ridging main shaft (81) and a ridging crankshaft (82) mounted on the ridging main shaft (81); the ridging crankshaft (82) comprises at least one set of drainage channel ridging wheels (822) and ridging wheels (823) arranged opposite to each other on the outside and inside of the ridging main shaft (81); at least one crankshaft ring body (821) is arranged between the drainage channel ridging wheels (822) and the ridging wheels (823).

10. The lettuce plant harvesting device according to claim 9, characterized in that: The rotary tillage driving mechanism (9) comprises a rotary tillage driving motor (91) arranged on a mobile chassis (11); a power sprocket (92) is arranged at the outer end of a driving shaft of the rotary tillage driving motor (91); a rotary tillage transmission sprocket (94) is arranged at the outer end of the rotary tillage main shaft (71); a ridging transmission sprocket (93) is arranged at the outer end of the ridging main shaft (81); and the power sprocket (92), the ridging transmission sprocket (93) and the rotary tillage transmission sprocket (94) are connected in transmission via a rotary tillage transmission chain (95).

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