Autonomous row-controlled orderly leaf vegetable harvester

Abstract

The utility model discloses a leafy vegetable orderly harvester capable of automatically aligning rows. The leafy vegetable orderly harvester comprises a crawler walking chassis, a plurality of conveying mechanisms, a cutting knife assembly, a plurality of separating and combining devices and a control system. The crawler walking chassis is driven by double motors, the left walking motor and the right walking motor respectively drive the left crawler belt and the right crawler belt to rotate, the conveying mechanism comprises a plurality of clamping single bodies rotating in opposite directions, the clamping single bodies comprise the left clamping single body and the right clamping single body, the front ends of the clamping single bodies are provided with separating and combining devices, and each separating and combining device is provided with an inductor. The inductors fixedly connected with the left clamping single body are a left inductor group, the inductors fixedly connected with the right clamping single body are a right inductor group, the left inductor group and the right inductor group respectively induct leaf vegetables between rows, the leaf vegetables inducted by any inductor group exceed half of the group, the control system controls the walking motor on the side to reduce the speed by 5%-10%, the advancing direction of the whole machine is adjusted, and the whole machine is driven to rotate. And automatic row-controlled harvesting of the leaf vegetables is realized.

Description

Technical Field

[0001] The utility model relates to a part of agricultural machinery, in particular to an orderly leafy vegetable harvester with automatic row alignment. Background Art

[0002] China is a major country in vegetable production and consumption. In 2019, the total planting area of vegetables in China has exceeded 20.862 million hectares, and the total output is 721.0260 million tons, with year-on-year growth rates of 2.07% and 2.50% respectively compared with the previous year. The research on vegetable harvesting machinery started earlier abroad,

[0003] and the technology is relatively mature. Developed countries such as Italy, the United States, and Canada have basically achieved full mechanization of the vegetable industry. Domestic leafy vegetable harvesters mainly focus on disorderly harvesting. In recent years, full mechanized operation of vegetable production has begun. Some leafy vegetables (Shanghai greens, lettuce) are sown by a drill seeder or transplanted by a transplanter in the early stage, and then harvested in rows by an orderly harvester in the later stage. During the harvesting process, the previous seeder or transplanter does not move in a standard straight line. When harvesting leafy vegetables in the later stage, it is impossible to completely replicate the driving route of the previous operation, resulting in sometimes complete row alignment during leafy vegetable harvesting and sometimes deviation, which is likely to damage the leafy vegetables. Summary of the Utility Model

[0004] To overcome the problems existing in the prior art: during the orderly harvesting of leafy vegetables, it is impossible to accurately align with the rows and the damage rate is high. The utility model provides an orderly leafy vegetable harvester with automatic row alignment, which includes a crawler walking chassis, a plurality of conveying mechanisms, a cutter assembly, a plurality of splitters, and a control system;

[0005] The plurality of conveying mechanisms are obliquely arranged on the frame of the crawler walking chassis. The cutter assembly is located at the front end of the frame. The plurality of conveying mechanisms include clamping monomers that rotate in opposite directions, namely a left clamping monomer and a right clamping monomer. The splitters are respectively located at the front ends of the clamping monomers. Each splitter is provided with a sensor. The splitters fixedly connected to the left clamping monomer form a group, namely a left sensor group, and the splitters fixedly connected to the right clamping monomer form a group, namely a right sensor group;

[0006] The crawler walking chassis is a double-motor-driven crawler chassis. The left walking motor drives the left crawler to rotate, and the right walking motor drives the right crawler to rotate;

[0007] The control system controls the rotational speeds of the left and right traveling motors. After more than half of the sensors in the left clutch group sense the leaves, they transmit signals to the control system. The control system controls the left traveling motor to decelerate while the speed of the right traveling motor remains unchanged until less than half of the sensors on the left clutch sense the leaves. After more than half of the sensors in the right clutch group sense the leaves, they transmit signals to the control system. The control system controls the right motor to decelerate while the speed of the left motor remains unchanged until less than half of the sensors on the right clutch sense the leaves, thus realizing the in-row operation.

[0008] Preferably, the control system controls the left or right motor to decelerate by 5%-10%, so that the whole machine is finely adjusted to the left or right by 5%-10%.

[0009] Preferably, the left or right clamping unit includes a driving roller locked to the frame by two upper and lower connecting shafts, a driving wheel located at the upper end of the driving roller, a driven wheel located at the lower end of the driving roller, and a flexible conveyor belt sleeved on the driving and driven wheels. The driving wheel is axially connected to one of a pair of bevel gears in the upper part of the driving roller housing. The left and right clamping units form a set of clamping and conveying mechanisms. Several sets of clamping and conveying mechanisms are installed in parallel on the frame, and the bevel gears of the driving roller are driven to rotate by a conveying motor and a transmission shaft, driving the flexible conveyor belt to rotate. Preferably, each dividing header includes spring teeth and a mounting part. There is a baffle on one side of the spring teeth, and the side with the baffle is located inside each set of conveying mechanisms. The sensor is located at the horizontal position at the front end of the spring teeth and on the side without the baffle.

[0010] Preferably, the number of the conveying mechanisms is 4-6 sets.

[0011] Compared with the prior art, the beneficial effects of the present utility model are as follows: 1) The sensors on the clutch are used to detect the leafy vegetables, determine the position of the whole machine relative to the leafy vegetables to be harvested, and according to the detection data, the direction of the whole machine is finely adjusted by reducing the rotational speed of one side motor, so as to accurately harvest the leafy vegetables in real time and in row. 2) During operation, there is no need for manual control of the operation direction of the whole machine all the time, reducing one labor force. Description of the Drawings

[0012] Figure 1 : Schematic diagram of an in-row leafy vegetable orderly harvester with autonomous row alignment

[0013] Figure 2 : Schematic diagram of the row alignment device of an in-row leafy vegetable orderly harvester with autonomous row alignment

[0014] Figure 3 : Flow chart of row alignment of an in-row leafy vegetable orderly harvester with autonomous row alignment

[0015] 1 - Power crawler walking chassis 2 - Frame 3 - Conveying mechanism 4 - Cutter assembly 5 - Dividing header

[0016] 6 - Harvesting platform

[0017] 31 - Clamping monomer 311 - Driving roller 312 - Flexible conveyor belt 313 - Transmission box 313 - 1 - Bevel gear 311 - 1 - Active wheel limiting rod 311 - 2 - Driven wheel

[0018] 31 - 1 - Left clamping monomer 31 - 2 - Right clamping monomer

[0019] 51 - Spring teeth 52 - Baffle 53 - Mounting part 54 - Right - hand side inductor 55 - Left - hand side inductor Detailed implementation mode

[0020] The following further describes the present utility model in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0021] As shown Figure 1-2 in the figure, an autonomously aligned leafy vegetable orderly harvester includes a crawler walking chassis 1. The crawler walking chassis is driven by a dual - motor. The left and right walking motors respectively drive the left and right crawlers to rotate. An inclined frame 2 is arranged on the crawler walking chassis. A number of conveying mechanisms 3 are evenly distributed on the frame 2. A cutter assembly 4 is arranged at the front end of the frame 2, and a harvesting platform 6 is arranged at the rear end of the frame. The whole machine controls the actions of each mechanism through a control system and is powered by a battery. A number of conveying mechanisms 3 are evenly distributed in parallel on the frame 2. The conveying mechanism 3 is composed of two sets of clamping monomers 31 rotating in opposite directions, namely a left clamping monomer 31 - 1 and a right clamping monomer 31 - 2. Each clamping monomer 31 includes a driving roller 311, a flexible conveyor belt 312, and a transmission box 313. The uppermost part of the driving roller 311 is the transmission box 313. A pair of bevel gears 313 - 1 are arranged in the transmission box. The bevel gear at the lower part is axially connected to the front - end active wheel 311 - 1 of the driving roller 311. A driven wheel 311 - 2 is arranged at the bottom of the driving roller. The flexible conveyor belt 312 is sleeved on the main and driven wheels. Each clamping monomer 31 is fixedly arranged on the frame 2 in parallel through two upper and lower connecting shafts. The bevel gears in the upper - part transmission box of each clamping monomer 31 are connected to a conveying motor through a transmission shaft to realize the transmission of the flexible conveyor belt.

[0022] A threshing device 5 is fixedly connected to the front end of each driving roller 311. Each threshing device 5 includes spring teeth 51 and a mounting part 53. The mounting part 53 is fixedly connected to the upper part of the bottom end of the driving roller 311. There is a baffle 52 on one side of the spring teeth 51. The side with the baffle 52 is located inside each group of conveying mechanisms 3. The inductor is located at the horizontal position in front of the spring teeth and on the side without the baffle. That is, the inductor is located outside the threshing device installed with each group of conveying mechanisms 3. The left - hand side inductor 54 is located at the front end of the left clamping monomer, and the right - hand side inductor 55 is located at the front end of the right clamping monomer.

[0023] The conveying mechanism inside the whole machine can be 4 groups or 6 groups. Accordingly, the separators fixedly connected to each group of conveying mechanisms are 8 groups or 12 groups. Sensors are provided at the outer ends of each group of separators. The sensors on the left separators of each group form a group, namely the left sensor group; the sensors on the right separators form a group, namely the right sensor group. If the sensors on each group of separators detect leafy vegetables, the signals will be transmitted to the control system respectively.

[0024] The working principle of the whole machine is as follows: This machine is mainly used for harvesting leafy vegetables for strip sowing or machine row-by-row transplanting. Generally, 4 - 6 rows of leafy vegetables (such as large green leafy vegetables like lettuce and Shanghai greens) are sown or transplanted on the ridges. Therefore, 4 - 6 groups of conveying mechanisms are also required for the whole machine. When harvesting leafy vegetables, for better flexible clamping and conveying of leafy vegetables, the whole machine needs to harvest row by row. However, during transplanting or sowing, it does not move completely in a straight line, and the machine needs to adjust the row-by-row state in real time during harvesting. When the whole machine is operating, the sensors on the left side of the conveying mechanism form a group, designated as the left feedback, and the sensors on the right side form a group, designated as the right feedback. When there are 4 rows, if 3 sensors on either side detect leafy vegetables, the control system controls the walking motor on that side to reduce the speed by 5% - 10%, thereby achieving fine adjustment of the direction of the whole machine; when there are 6 rows, if 4 sensors on either side detect leafy vegetables, the control system controls the walking motor on that side to reduce the speed by 5% - 10% to achieve fine adjustment of the direction of the whole machine until no more than half of the sensors on either side detect leafy vegetables, and the left and right motors drive the crawler at the same speed. If more than half of the sensors on both sides detect leafy vegetables, the control system controls the speeds of the walking motors on both sides to remain unchanged.

[0025] When the whole machine is working, the operator moves the machine to the operation field. After initial row alignment, adjust the height of the cutting table, start the machine, and perform cutting and harvesting. During harvesting, the operator only needs to change the frame on the harvesting platform and does not need to constantly control the operation direction of the whole machine. The whole machine automatically adjusts the row alignment through sensors.

[0026] The above is only a specific application example of the present utility model and does not constitute any limitation to the protection scope of the utility model. In addition to the above embodiments, the present utility model may also have other implementation manners. Any technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present utility model.

Claims

1. An autonomous row-by-row leafy vegetable harvester, characterized in that: It includes a crawler walking chassis, several conveying mechanisms, a cutter assembly, several crop dividers and a control system; The plurality of conveying mechanisms are obliquely placed on the frame of the crawler walking chassis, the cutter assembly is located at the front end of the frame, and the plurality of conveying mechanisms include clamping units rotating in opposite directions, namely, a left clamping unit and a right clamping unit; the crop dividers are respectively located at the front ends of the clamping units, and each crop divider is provided with a sensor, and the crop dividers fixedly connected to the left clamping unit are a group, namely, a left sensor group, and the crop dividers fixedly connected to the right clamping unit are a group, namely, a right sensor group; The crawler chassis is a dual-motor driven crawler chassis, the left crawler motor drives the left crawler to rotate, and the right crawler motor drives the right crawler to rotate; The control system controls the rotation speed of the left and right travel motors. After more than half of the sensors on the left crop divider group sense the blades, the signals are transmitted to the control system, and the control system controls the left travel motor to decelerate, while the speed of the right travel motor remains unchanged, until less than half of the sensors on the left crop divider sense the blades; after more than half of the sensors on the right crop divider group sense the blades, the signals are transmitted to the control system, and the control system controls the right motor to decelerate, while the speed of the left motor remains unchanged, until less than half of the sensors on the right crop divider sense the blades, thereby realizing row operation.

2. The autonomous row-by-row leafy vegetable harvester according to claim 1, characterized in that The control system controls the left motor or the right motor to slow down by 5%-10%, so that the whole machine is fine-tuned to the left or right by 5%-10%.

3. The autonomous row-by-row leafy vegetable harvester according to claim 1, characterized in that The left or right clamping unit includes a transmission roller locked with the frame through two upper and lower connecting shafts, a driving wheel located at the upper end of the transmission roller, a driven wheel located at the lower end of the transmission roller, and a flexible conveyor belt sleeved on the driving and driven wheels. The driving wheel is axially connected to one of a pair of bevel gears in the upper box of the transmission roller. The left or right clamping unit is a group of clamping and conveying mechanisms. Several groups of clamping and conveying mechanisms are installed in parallel on the frame. The bevel gears of the transmission roller are driven to rotate through the conveying motor and the transmission shaft, thereby driving the flexible conveyor belt to rotate.

4. The autonomous row-by-row leafy vegetable harvester according to claim 1, characterized in that Each of the crop dividers comprises a spring tooth and a mounting portion, one side of the spring tooth is provided with a baffle, the side with the baffle is located on the inner side of each set of conveying mechanisms, and the sensor is located at the level of the front end of the pop-up and on the side without the baffle.

5. The autonomous row-by-row leafy vegetable harvester according to claim 1, characterized in that The conveying mechanism is 4-6 groups.

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