Self-adaptive two-stage belt conveying small-sized asparagus lettuce harvester based on spring suspension

Abstract

The utility model relates to the technical field of asparagus lettuce harvesting, and discloses a spring suspension-based self-adaptive two-stage belt conveying small-sized asparagus lettuce harvester, which comprises a chassis, walking components are arranged at four corners outside the chassis, a frame is fixedly connected to the top of the chassis, a conveying bottom frame is fixedly connected to the rear end of the left side of the chassis, and the conveying bottom frame is fixedly connected to the rear end of the right side of the chassis. The front end of the left side of the chassis is fixedly connected with a self-adaptive bottom frame, the top of the conveying bottom frame and the top of the self-adaptive bottom frame are both fixedly connected with connecting frames, the top of one connecting frame is rotationally connected with a self-adaptive frame, and the top of the other connecting frame is rotationally connected with a conveying frame. According to the asparagus lettuce harvester, the two-stage conveying belt design is adopted, asparagus lettuces with different thicknesses are wrapped and clamped in a self-adaptive mode, asparagus lettuce stems are protected against damage, meanwhile, the height of the bottom can be adjusted through the height adjusting mechanism, asparagus lettuce harvesting quality can be guaranteed through self-adaptive clamping, and height adjustment can be suitable for various types of planting fields.

Description

Technical Field

[0001] The utility model relates to the technical field of lettuce harvesting, in particular to a small-sized lettuce harvester with two-stage belt conveying based on spring suspension self-adaptation. Background Art

[0002] Lettuce is one of the main vegetable crops in my country and is deeply loved by the people. Lettuce belongs to the genus Lactuca in the Asteraceae family. It is a common vegetable, and both its rhizomes and leaves are edible. People usually eat its rhizomes, which are popular because they are crisp, tender, juicy and nutritious. Lettuce is generally picked before the flower buds appear, when the top of the plant is level with the tip of the highest leaf. Lettuce is a nutritious and versatile vegetable. It needs to be picked at the right time and the harvesting method should be paid attention to to ensure the best yield and quality. Mastering the correct planting and harvesting techniques can effectively increase the commercial value of lettuce and provide consumers with healthy and delicious ingredients.

[0003] However, in the current lettuce production process, the harvesting process is almost entirely done manually, which has high labor intensity and low labor efficiency. This is the biggest bottleneck in the mechanized production of the entire planting process, which in turn leads to problems such as high labor intensity, labor shortage, and reduced agricultural production efficiency. Therefore, in response to the above shortcomings, a small lettuce harvester with a two-stage belt conveyor based on spring suspension adaptation was proposed. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings of the prior art, and to propose a small lettuce harvester based on spring suspension self-adaptive two-stage belt conveyor, aiming to improve the problem that the harvesting process of lettuce in the prior art is almost entirely done manually, with high labor intensity and low labor efficiency.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] The small lettuce harvester with two-stage belt conveyor based on spring suspension adaptation comprises a chassis, wherein the four outer corners of the chassis are provided with walking components, the top of the chassis is fixedly connected to a frame, the left rear end of the chassis is fixedly connected to a transmission bottom frame, the left front end of the chassis is fixedly connected to an adaptive bottom frame, the transmission bottom frame and the top of the adaptive bottom frame are fixedly connected to a connecting frame, the top of one of the connecting frames is rotatably connected to the adaptive frame, and the top of the other connecting frame is rotatably connected to the transmission frame, and the top of the transmission bottom frame and the adaptive frame are fixedly connected to a plurality of fixed shafts, the upper and lower outer sides of the plurality of fixed shafts Each of the V-shaped plates is rotatably connected, a rotating shaft is fixedly connected inside every two of the V-shaped plates, a fixed column is fixedly connected inside every two of the V-shaped plates, and adaptive columns are fixedly connected to the outside of the plurality of fixed columns. The adaptive frame and the top of the conveying frame are provided with a driving assembly, and the outer sleeves of the plurality of adaptive columns are provided with a harvesting belt 1, and the outer sleeve of one of the driving assemblies is provided with a harvesting belt 2, the outer sleeves of the two driving wheels 2 at the top of the conveying bottom frame are provided with a harvesting belt 3, and the outer sleeves of the plurality of adaptive columns at the top of the adaptive bottom frame are provided with a harvesting belt 4, and the outer sleeves of the plurality of rotating shafts are fixedly connected with tension springs.

[0007] Furthermore, multiple walking components include shock-absorbing frames, multiple shock-absorbing frames are fixedly connected to the four external corners of the chassis, multiple shock-absorbing frames are fixedly connected to the external parts of the chassis, multiple support frames are installed with worm motors on the external parts, multiple worm motors are fixedly connected to walking wheels at the output ends, multiple support frames are provided with flanges on the tops, multiple flanges are fixedly connected to nuts on the tops, shock-absorbing springs are sleeved on the external parts of multiple nuts, two servos are provided on the adjacent sides of multiple shock-absorbing frames, and lateral pull rods are provided on the distant sides of the two servos.

[0008] Furthermore, the driving assembly includes a reduction motor 1, the bottom of which is installed on the top of the adaptive frame, the interior of the adaptive frame is fixedly rotatably connected with two driving wheels 1, a reduction motor 2 is installed on the top of the conveying frame, the interior of the conveying frame is rotatably connected with two driving wheels 2, one of the driving wheels 2 is provided with a universal joint 1 at the bottom, and one of the adaptive columns is provided with a universal joint 2 at the bottom.

[0009] Furthermore, the external top sides of the conveying frame and the adaptive frame are fixedly connected with two vertical seats, the adjacent sides of each two vertical seats are fixedly connected with an optical axis slide rod, the external sliding connection of the two optical axis slide rods is connected with a connecting block, the bottoms of the two connecting blocks are fixedly connected with connecting legs, the top of the chassis is fixedly connected with a motor bracket, the top of the motor bracket is installed with a stepper motor 1, the output end of the stepper motor 1 is fixedly connected with a coupling, the outside of the coupling is fixedly connected with a lifting screw, and the outside of the lifting screw is provided with a screw slider.

[0010] Furthermore, a motor fixing frame is fixedly connected to the bottom of the frame, a stepper motor 2 is installed at the bottom of the motor fixing frame, a driving pulley is fixedly connected to the output end of the stepper motor 2, a transmission belt is sleeved on the outside of the driving pulley, a plurality of driven pulleys are fixedly connected to the top of the frame, and a collection box screw rod is rotatably connected to the adjacent side of every two driven pulleys, a slider is provided on the outside of one of the collection box screw rods, and an arc-shaped connecting block is provided on the outside of the other collection box screw rod, and a collection box is fixedly connected to the top of the slider.

[0011] Furthermore, the outside of the rotating shaft is slidably connected to the inside of the adaptive bottom frame and the adaptive frame, and the inside of the harvesting belt one is sleeved on the outside of the driving wheel one.

[0012] Furthermore, one end of the tension spring is fixedly connected to the outside of the rotating shaft, and the other end of the tension spring is fixedly connected to the top of the fixing column.

[0013] Furthermore, the interior of the transmission belt is sleeved on the exterior of the collecting box lead screw, and the bottom of the collecting box is fixedly connected to the top of the arc-shaped connecting block.

[0014] The utility model has the following beneficial effects:

[0015] 1. In the utility model, by adopting a two-level conveyor belt design and referring to the tank suspension mechanism, lettuces of different thicknesses are wrapped and adaptively clamped to protect the lettuce stems from damage. At the same time, the height adjustment mechanism can adjust the bottom height, and the adaptive clamping can ensure the quality of lettuce harvest. The height adjustment can be applied to various types of planting sites.

[0016] 2. In the utility model, dual servo steering, independent suspension system and four-motor drive are adopted. On soft land, the independent suspension system can improve the stability of the vehicle body and the quality of harvested lettuce. The four-motor drive avoids the problem of the power wheel hanging in the rough ground. The dual servo steering can realize steering in a limited space.

[0017] 3. In the utility model, the screw mechanism realizes the cyclic movement of the fixed stroke of the collecting box, and automatically stacks the descending lettuce, which saves labor and protects the lettuce, avoiding the damage of the stem integrity of the lettuce by disorderly placement, saving manual stacking labor and improving the storage quality of lettuce. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of a small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation proposed by the utility model;

[0019] Figure 2 This is a schematic diagram of the adaptive bottom frame structure of the small lettuce harvester with two-stage belt conveyor based on spring suspension adaptive proposed by the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the driving wheel 2 of the small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation proposed by the utility model;

[0021] Figure 4 This is a schematic diagram of the second structure of the harvesting belt of the small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation proposed by the utility model;

[0022] Figure 5 This is a schematic diagram of the connecting frame structure of a small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation proposed by the utility model;

[0023] Figure 6 This is a schematic diagram of the frame structure of a small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation proposed in the utility model;

[0024] Figure 7 This is a schematic diagram of the transmission frame structure of the small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation proposed by the utility model;

[0025] Figure 8 This is a schematic diagram of the walking wheel structure of a small lettuce harvester with two-stage belt conveyor and spring suspension self-adaptation proposed in the utility model.

[0026] Legend:

[0027] 1. Chassis; 2. Shock-absorbing frame; 3. Support frame; 4. Worm motor; 5. Travel wheel; 6. Flange; 7. Nut; 8. Shock-absorbing spring; 9. Frame; 10. Servo; 11. Transverse pull rod; 12. Transmission bottom frame; 13. Adaptive bottom frame; 14. Connecting frame; 15. Adaptive frame; 16. Transmission frame; 17. Fixed shaft; 18. V-shaped plate; 19. Rotating shaft; 20. Fixed column; 21. Adaptive column; 22. Reducer motor 1; 23. Driving wheel 1; 24. Harvesting belt 1; 25. Reducer motor 2; 26. Driving wheel 2; 27. Harvesting belt two; 28. Universal joint one; 29. ​​Universal joint two; 30. Tension spring; 31. Vertical seat; 32. Optical axis slide rod; 33. Connecting block; 34. Connecting leg; 35. Motor bracket; 36. Stepper motor one; 37. Coupling; 38. Lifting screw rod; 39. Screw rod slider; 40. Motor fixing bracket; 41. Stepper motor two; 42. Driving pulley; 43. Transmission belt; 44. Driven pulley; 45. Collecting box screw rod; 46. Slider; 47. Arc-shaped connecting block; 48. Collecting box; 49. Harvesting belt three; 50. Harvesting belt four. DETAILED DESCRIPTION

[0028] 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.

[0029] Reference Figure 1The utility model provides an embodiment: a small lettuce harvester with a two-stage belt conveyor based on spring suspension self-adaptation, including a chassis 1, the chassis 1: provides a stable platform to install all other structures, the four outer corners of the chassis 1 are provided with walking components, the design of the walking components allows the machine to adapt to different terrains, thereby reducing soil compaction and crop damage, multiple walking components include a shock-absorbing frame 2, the outer parts of multiple shock-absorbing frames 2 are fixedly connected to the four outer corners of the chassis 1, the function of the shock-absorbing frame 2 is to absorb the vibration generated when walking in the field, reduce the impact on crops, and protect the electronic and mechanical components of the machine from excessive vibration, the outer parts of multiple shock-absorbing frames 2 are fixedly connected to support frames 3, the outer parts of multiple support frames 3 are installed with worm motors 4, the support frames 3 provide installation points for the worm motors 4 and other structures, the output ends of multiple worm motors 4 are fixedly connected to walking wheels 5, the worm motors 4 are the power source for driving the walking wheels 5, and multiple support frames 3 The top of each of the plurality of flanges 6 is provided with a flange 6, and the tops of the plurality of flanges 6 are fixedly connected with nuts 7, and the outer parts of the plurality of nuts 7 are sleeved with damping springs 8, and the wheels on both sides are respectively equipped with suspensions with damping springs 8 as damping devices, so as to provide a shock absorption function for the small vehicle, so as to cope with the bumpy ground conditions in the field, increase the smoothness of the harvester's field operation, and improve the quality of field operation, and two steering gears 10 are provided on the adjacent sides of the plurality of damping frames 2, and a transverse tie rod 11 is provided on the far sides of the two steering gears 10, and the steering gear is used to control the position of the transverse tie rod 11, so as to adjust the direction of the walking wheel 5 and the travel path of the machine, and during the steering process, the steering gear 10 drives the tie rod to move left and right, and the rotation angle of the steering gear 10 is equal to the rotation angle of the wheel, and in order to prevent the ground from bumping, causing the transverse tie rod 11 to move up and down with the suspension, a ball joint is used for connection, and this design gives the harvester a certain deceleration function by controlling the wheel reversal, so as to ensure that the harvester is given a certain driving resistance when braking is required;

[0030] Reference Figure 2 - Figure 4The top of the chassis 1 is fixedly connected with a frame 9. The frame 9 and the chassis 1 serve as the basic framework of the entire harvester, providing a platform for structural support and component installation. The left rear end of the chassis 1 is fixedly connected with a transmission bottom frame 12, and the left front end of the chassis 1 is fixedly connected with an adaptive bottom frame 13. The transmission bottom frame 12 and the adaptive bottom frame 13 are key components of the harvester. They support the transmission system and the adaptive system to ensure the smooth harvesting and transportation of lettuce. The tops of the transmission bottom frame 12 and the adaptive bottom frame 13 are fixedly connected with a connecting frame 14, and the top of one of the connecting frames 14 rotates The top of another connecting frame 14 is rotatably connected to a conveying frame 16. The lettuce grows upright, and a conveying device is required to support the lettuce to ensure that it is upright before cutting. Therefore, the blade is designed to be installed 10 cm in front of the conveying frame 16. The connecting frame 14 provides a stable support for the adaptive frame 15 and the conveying frame 16, and can be rotated to adjust different inclination angles. The top of the conveying bottom frame 12 and the adaptive frame 15 are fixedly connected to multiple fixed shafts 17, and the upper and lower sides of the multiple fixed shafts 17 are rotatably connected to V-shaped plates 18 Each of the two V-shaped plates 18 is internally fixedly connected with a rotating shaft 19, and the external part of the rotating shaft 19 is slidably connected to the inside of the adaptive bottom frame 13 and the adaptive frame 15. The rotating shaft 19 is slidably connected to the inside of the adaptive bottom frame 13 and the adaptive frame 15 to form an adaptive mechanism. This mechanism can be adjusted according to the size and shape of the lettuce to ensure that the lettuce is effectively harvested and transported with minimal damage. Each of the two V-shaped plates 18 is internally fixedly connected with a fixed column 20, and the external parts of the multiple fixed columns 20 are all fixedly connected with adaptive columns 21. The adaptive columns 21 can be adjusted according to the size and shape of the lettuce to ensure that the lettuce is effectively harvested and transported with minimal damage. While rubbing, the belt can be better stabilized, so that the lettuce can be transported to the collection device smoothly and without damage. The top of the adaptive frame 15 and the conveying frame 16 are both provided with a driving assembly, and the driving assembly includes a reduction motor 22. The bottom of the reduction motor 22 is installed on the top of the adaptive frame 15. The interior of the adaptive frame 15 is fixedly connected to two driving wheels 23. The reduction motor 22 is installed on the top of the adaptive frame 15 and is responsible for driving the driving wheel 23. The reduction motor 25 is installed on the top of the conveying frame 16 and is responsible for driving the driving wheel 26.

[0031] Reference Figure 3 - Figure 5A reduction motor 25 is installed on the top of the transmission frame 16. Two driving wheels 26 are connected to the transmission frame 16 for internal rotation. A universal joint 28 is set at the bottom of one of the driving wheels 26. A universal joint 29 is set at the bottom of one of the adaptive columns 21. A harvesting belt 24 is set on the outer sleeve of multiple adaptive columns 21. The inner sleeve of the harvesting belt 24 is set on the outer side of the driving wheel 23. A harvesting belt 27 is set on the outer sleeve of one of the driving components. The outer sleeves of the two driving wheels 26 at the top of the transmission bottom frame 12 are set with harvesting belts 3 49. The outer sleeves of multiple adaptive columns 21 at the top of the adaptive bottom frame 13 are set with harvesting belts 4 50. The driving wheel 1 driven by the reduction motor 23 and the driving wheel 2 26, the harvested lettuce is transmitted through the harvesting belt 1 24, the harvesting belt 2 27, the harvesting belt 3 49 and the harvesting belt 4 50, the outside of the multiple rotating shafts 19 are fixedly connected with tension springs 30, one end of the tension spring 30 is fixedly connected to the outside of the rotating shaft 19, and the other end of the tension spring 30 is fixedly connected to the top of the fixed column 20. The function of the tension spring 30 is to provide a certain tension during the harvesting process, help stabilize the rotating shaft 19 and the V-shaped plate 18, and ensure the smooth progress of the harvesting process. The conveying belt is made to fit the lettuce as much as possible through the tension spring 30 and the V-shaped plate 18. It is necessary to select a suitable spring through calculation so that the thicker lettuce will not be damaged while the thinner lettuce can be clamped;

[0032] Reference Figure 6 - Figure 8 , the external top sides of the conveying frame 16 and the adaptive frame 15 are fixedly connected with two vertical seats 31, and the adjacent sides of each two vertical seats 31 are fixedly connected with an optical axis slide rod 32, and the external sliding connection of the two optical axis slide rods 32 is connected with a connecting block 33. The design here can adapt to the angle adjustment of the conveying frame 16 and the adaptive frame 15 through the sliding of the connecting block 33, and the bottom of the two connecting blocks 33 is fixedly connected with a connecting leg 34, and the top of the chassis 1 is fixedly connected with a motor bracket 35, and a stepper motor 36 is installed on the top of the motor bracket 35. The motor bracket 35 is designed here for the installation of the stepper motor 36, and the output end of the stepper motor 36 is fixedly connected with a coupling 37, and the external part of the coupling 37 is fixedly connected with a lifting screw rod 38, and a screw slider 39 is arranged on the external part of the lifting screw rod 38. The design here is to drive the lifting screw rod 38 to rotate through the stepper motor 36, and then the position of the screw slider 39 can be adjusted, so as to realize the angle adjustment of the conveying frame 16 and the adaptive frame 15.

[0033] Reference Figure 6 - Figure 8The bottom of the frame 9 is fixedly connected to a motor fixing frame 40, and a stepper motor 2 41 is installed at the bottom of the motor fixing frame 40. The output end of the stepper motor 2 41 is fixedly connected to a driving pulley 42, and a transmission belt 43 is sleeved on the outside of the driving pulley 42. The stepper motor 2 41 is responsible for driving the driving pulley 42, and then driving the transmission belt 43 to realize the movement of the collection box 48. The top of the frame 9 is fixedly connected to a plurality of driven pulleys 44, and the adjacent side of each two driven pulleys 44 is rotatably connected to a collection box screw rod 45, and the inner sleeve of the transmission belt 43 is arranged on the collection box. The outside of the box screw rod 45, the collection box screw rod 45 is driven to rotate by the transmission belt 43, so as to adjust the horizontal position of the collection box 48. A slider 46 is provided on the outside of one of the collection box screw rods 45, and an arc-shaped connecting block 47 is provided on the outside of the other collection box screw rod 45. The top of the slider 46 is fixedly connected to the collection box 48. The slider 46 and the arc-shaped connecting block 47 enable the collection box 48 to move horizontally when the collection box screw rod 45 rotates. The bottom of the collection box 48 is fixedly connected to the top of the arc-shaped connecting block 47, and the collection box 48 can be smoothly moved to the specified position.

[0034] Working principle: when it is necessary to cut and collect the lettuce, first start the stepper motor 36, and drive the lifting screw 38 to rotate through the stepper motor 36, so that the lifting screw 38 can be displaced, and then the angle of the adaptive frame 15 and the transmission frame 16 can be adjusted. When it is adjusted to a suitable angle, the worm motor 4 can be started, and the worm motor 4 can be used to drive the walking wheel 5 to rotate, and then the steering gear 10 and the transverse pull rod 11 can be used to adjust the walking direction. At this time, the device can be driven to move, and then the reduction motor 25 and the reduction motor 1 22 can be started, so that the driving wheel 2 26 and the driving wheel 1 23 can be driven to rotate, so that the harvesting belt 1 24 and the harvesting belt 2 27 can be displaced with the rotation, and then the driving wheel 2 26 and the driving wheel 1 23 on the top of the transmission bottom frame 12 and the adaptive bottom frame 13 can be rotated with the help of the universal joint 1 28 and the universal joint 29, so that The harvesting belt three 49 and the harvesting belt four 50 are displaced. When they contact the lettuce, the harvesting belt four 50 will be subjected to an extrusion force, which will cause the rotating shaft 19 to slide and the tension spring 30 to stretch or compress. At this time, the lettuce can be adaptively clamped and transported with the help of the universal joint two 29 and the harvesting belt four 50, and then the lettuce can be cut with the help of the cutting blade, and then the lettuce can be adaptively clamped and transported with the help of the harvesting belt one 24 and the harvesting belt two 27 on the top of the adaptive frame 15 and the conveying frame 16, and then it will fall into the collection box 48, and then the stepper motor two 41 can be started to drive the active pulley 42 to rotate, so that the transmission belt 43 can be transmitted, and then the collection box screw rod 45 can be rotated, and then the slider 46 can be displaced, thereby driving the collection box 48 to be displaced, and then the collected lettuce can be discharged and stored.

[0035] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. 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 lettuce harvester with two-stage belt conveyor and self-adaptive spring suspension, comprising a chassis (1), characterized in that: The four corners of the chassis (1) are provided with walking components. The top of the chassis (1) is fixedly connected to a frame (9). The left rear end of the chassis (1) is fixedly connected to a transmission bottom frame (12). The left front end of the chassis (1) is fixedly connected to an adaptive bottom frame (13). The tops of the transmission bottom frame (12) and the adaptive bottom frame (13) are fixedly connected to a connecting frame (14). The top of one of the connecting frames (14) is rotatably connected to an adaptive frame (15). The top of the other connecting frame (14) is rotatably connected to a transmission frame (16). The tops of the transmission bottom frame (12) and the adaptive frame (15) are fixedly connected to a plurality of fixed shafts (17). The upper and lower sides of the plurality of fixed shafts (17) are rotatably connected to V-shaped plates (18). Every two of the V-shaped plates are connected to the tops of the plurality of fixed shafts (17). The interior of the V-shaped plate (18) is fixedly connected to a rotating shaft (19), the interior of each two of the V-shaped plates (18) is fixedly connected to a fixed column (20), the exteriors of the plurality of fixed columns (20) are fixedly connected to adaptive columns (21), the tops of the adaptive frame (15) and the conveying frame (16) are both provided with driving components, the exteriors of the plurality of adaptive columns (21) are provided with harvesting belts one (24), the exteriors of one of the driving components is provided with harvesting belts two (27), the exteriors of the two driving wheels two (26) at the top of the conveying bottom frame (12) are provided with harvesting belts three (49), the exteriors of the plurality of adaptive columns (21) at the top of the adaptive bottom frame (13) are provided with harvesting belts four (50), and the exteriors of the plurality of rotating shafts (19) are fixedly connected to tension springs (30).

2. The small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation according to claim 1 is characterized in that: The plurality of walking components all comprise a shock absorbing frame (2), the exteriors of the plurality of shock absorbing frames (2) are fixedly connected to the four exterior corners of the chassis (1), the exteriors of the plurality of shock absorbing frames (2) are fixedly connected to a support frame (3), the exteriors of the plurality of support frames (3) are installed with a worm motor (4), the output ends of the plurality of worm motors (4) are fixedly connected to a walking wheel (5), the tops of the plurality of support frames (3) are all provided with a flange (6), the tops of the plurality of flanges (6) are all fixedly connected with a nut (7), the exteriors of the plurality of nuts (7) are all sleeved with a shock absorbing spring (8), the adjacent sides of the plurality of shock absorbing frames (2) are all provided with two steering gears (10), and the distant sides of the two steering gears (10) are all provided with a transverse pull rod (11).

3. The small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation according to claim 1 is characterized in that: The driving assembly comprises a reduction motor 1 (22), the bottom of which is mounted on the top of the adaptive frame (15), the interior of the adaptive frame (15) is fixedly rotatably connected with two driving wheels 1 (23), the top of the conveying frame (16) is mounted with a reduction motor 2 (25), the interior of the conveying frame (16) is rotatably connected with two driving wheels 2 (26), the bottom of one of the driving wheels 2 (26) is provided with a universal joint 1 (28), and the bottom of one of the adaptive columns (21) is provided with a universal joint 2 (29).

4. The small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation according to claim 1 is characterized in that: The transmission frame (16) and the adaptive frame (15) are both fixedly connected to the external top sides with two vertical seats (31), and the adjacent sides of each of the two vertical seats (31) are fixedly connected to an optical axis slide rod (32), and the external sliding connection of the two optical axis slide rods (32) is connected to a connecting block (33), and the bottoms of the two connecting blocks (33) are fixedly connected to a connecting leg (34). The top of the chassis (1) is fixedly connected to a motor bracket (35), and a stepper motor (36) is installed on the top of the motor bracket (35). The output end of the stepper motor (36) is fixedly connected to a coupling (37), and the external part of the coupling (37) is fixedly connected to a lifting screw rod (38), and a screw slider (39) is arranged on the outside of the lifting screw rod (38).

5. The small lettuce harvester with two-stage belt conveyor and spring suspension self-adaptation according to claim 1 is characterized in that: The bottom of the vehicle frame (9) is fixedly connected to a motor fixing frame (40), the bottom of the motor fixing frame (40) is installed with a second stepping motor (41), the output end of the second stepping motor (41) is fixedly connected to a driving pulley (42), the outer portion of the driving pulley (42) is sleeved with a transmission belt (43), the top of the vehicle frame (9) is fixedly connected to a plurality of driven pulleys (44), the adjacent sides of every two driven pulleys (44) are rotatably connected to a collecting box screw rod (45), the outer portion of one of the collecting box screw rods (45) is provided with a slider (46), the outer portion of the other collecting box screw rod (45) is provided with an arc-shaped connecting block (47), and the top of the slider (46) is fixedly connected to a collecting box (48).

6. The small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation according to claim 3 is characterized in that: The outside of the rotating shaft (19) is slidably connected to the inside of the adaptive bottom frame (13) and the adaptive frame (15), and the inside of the harvesting belt (24) is sleeved on the outside of the driving wheel (23).

7. The small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation according to claim 1 is characterized in that: One end of the tension spring (30) is fixedly connected to the outside of the rotating shaft (19), and the other end of the tension spring (30) is fixedly connected to the top of the fixing column (20).

8. The small lettuce harvester with two-stage belt conveyor based on spring suspension self-adaptation according to claim 5 is characterized in that: The interior of the transmission belt (43) is sleeved on the exterior of the collecting box screw rod (45), and the bottom of the collecting box (48) is fixedly connected to the top of the arc-shaped connecting block (47).

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