Chinese cabbage harvesting device

Abstract

The utility model belongs to the field of agricultural Chinese cabbage harvesting, and particularly relates to a Chinese cabbage harvesting device which comprises a trolley, a clamping and root cutting device, a conveying device and a box separating and collecting device. The clamping and root cutting device is connected to the conveying device, the box separating and collecting device is arranged behind the conveying device, the conveying device and the box separating and collecting device are both fixed to the trolley, the clamping and root cutting device clamps Chinese cabbages, cuts off the roots of the Chinese cabbages and conveys the Chinese cabbages to the conveying device, and the conveying device conveys the Chinese cabbages into the box separating and collecting device. The box separating and collecting device comprises an outer frame, a Chinese cabbage collecting box and a transmission device, the transmission device conveys the Chinese cabbage collecting box on a supporting plate of the outer frame to the rear portion of the conveying device and is used for collecting Chinese cabbages, the structure relevance is high, operation is easy, cost is saved, time and labor are saved, Chinese cabbages can be automatically harvested, and the working efficiency is improved. The damage rate of Chinese cabbages can be effectively reduced, the labor cost is saved, and the economic benefit is improved.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural cabbage harvesting, and specifically relates to a cabbage harvesting device. Background Technology

[0002] Currently, the harvesting of Chinese cabbage in my country is still mainly done manually, with a low level of mechanization. The traditional manual harvesting method usually involves manually cutting off the roots of the Chinese cabbage with a knife and then collecting it into a cabbage collection box.

[0003] In Northeast and North China, Chinese cabbage is planted in single-row ridges and some machinery is used. However, this can cause some damage to the cabbage. Existing mechanized cabbage harvesting machines transport the cabbage and then drop it into a large harvesting area. Although the harvesting is more concentrated, it also increases the impact force on the cabbage as it grows higher due to gravity, resulting in a higher rate of damage from falling. After being collected at a unified giant collection point, the cabbage below is also damaged after being subjected to pressure from the cabbage above for a long time. When unloading, manual packing is still required, which increases labor costs. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a Chinese cabbage harvesting device with strong structural correlation, simple operation, cost saving, time and labor saving. It can not only automatically harvest Chinese cabbage, but also effectively reduce the damage rate of Chinese cabbage, save labor costs and improve economic benefits.

[0005] To achieve the aforementioned objectives of this utility model, the technical solution is as follows:

[0006] A Chinese cabbage harvesting device includes a trolley, a root-clamping and cutting device, a conveying device, and a box-collecting device.

[0007] The root-cutting device is connected to the conveying device. A box-collecting device is located behind the conveying device. Both the conveying device and the box-collecting device are fixed on the trolley. The root-cutting device clamps the cabbage and cuts off its root, then transports it to the conveying device. The conveying device then transports the cabbage to the box-collecting device.

[0008] The sorting and collecting device includes an outer frame, cabbage collecting boxes, and a transmission device. The outer frame is mounted on a trolley, and multiple support plates are provided on the inner wall of the outer frame. Multiple cabbage collecting boxes are placed on each support plate. The transmission device transfers the cabbage collecting boxes on the support plates to the rear of the conveyor device for collecting cabbage.

[0009] The transmission device includes a first transmission device, a second transmission device and a third transmission device. The first transmission device is fixed on the bottom plate of the outer frame. The second transmission device is provided on the first transmission device. The first transmission device drives the second transmission device to move left and right.

[0010] The second transmission device is equipped with a third transmission device. The second transmission device drives the third transmission device to move up and down. The third transmission device picks up the cabbage collection box on the support plate and passes the cabbage collection box to the rear of the conveyor device.

[0011] The first and second transmission devices have the same structure, both including a linear module, a lead screw, and a linear optical axis. The linear module is equipped with a lead screw and a linear optical axis. One end of the lead screw is connected to the motor of the linear module, and the other end is rotatably connected to the fixed plate of the linear module. The slider on the linear module is slidably connected to the linear optical axis. The motor drives the lead screw to rotate, which is used for the slider to move on the linear optical axis.

[0012] The linear module of the first transmission device is fixed on the base plate of the outer frame; one end of the linear module of the second transmission device is fixed on the slider of the linear module of the first transmission device.

[0013] The motors on the linear modules of the first and second transmission devices are respectively connected to the main control module on the trolley.

[0014] The outer frame is provided with a slide rail on the top inner wall, and the linear module of the second transmission device is provided with a slider III on the top, and the slider III is connected to the slide rail.

[0015] The third transmission device includes a sliding plate, guide wheels, pulley I, and a servo motor. The sliding plate is located above the slider of the linear module of the second transmission device. The sliding plate has grooves on both sides and a connecting plate above it. The connecting plate has four guide wheels, and the axles of the guide wheels are fixed to the slider I. The output shaft of the motor I fixed to the connecting plate is connected to the pulley I through a coupling. The outer side of the pulley I is connected to the belt I. The two ends of the belt I are fixed to the two ends of the groove on one side of the sliding plate. Two guide wheels on the same side as the belt I are pressed against the belt I, and the other two guide wheels are connected to the groove on the other side of the sliding plate. A servo motor is located above the connecting plate. The servo motor is connected to the output shaft of the motor II fixed below the connecting plate. A support plate is located above the servo motor, and a baffle is located above the support plate.

[0016] The clamping and cutting device consists of two symmetrically arranged clamping and cutting assemblies. Each clamping and cutting assembly includes a blade and a clamping component. The clamping component includes a clamping frame, pulleys II, and belts II. The front and rear ends of the clamping frame are each provided with two pulleys II. The four pulleys II are connected by belts II. One of the pulleys II is equipped with a motor III. The bottom of the clamping frame is provided with a blade, which is connected to the output shaft of a motor IV fixed inside the clamping frame. Motors III and IV are connected to the main control module on the trolley.

[0017] The two symmetrically arranged clamping and cutting components are not parallel to each other, and the front opening angle of the two clamping and cutting components is greater than the rear opening angle.

[0018] The conveying device includes two mounting plates, sprockets, shafts, chains, and spacers. The tops of the two mounting plates are fixed to the trolley by brackets. A set of sprockets is symmetrically arranged on the top and bottom of the inner sides of the two mounting plates. The two sprockets on each mounting plate are connected by chains, and a spacer is provided between the two chains. Auxiliary support plates are evenly spaced on the spacer. The axles of the set of sprockets on the top of the two mounting plates are connected by shafts. One end of the shaft is connected to a motor V fixed to the outside of one of the mounting plates by a coupling, and the other end of the shaft is rotatably connected to the other mounting plate. Motor V is connected to the main control module on the trolley.

[0019] The root-cutting clamping device and the conveying device are connected by a connecting arm. The root-cutting clamping device is parallel to the connecting arm, and the angle between the connecting arm and the ground is 15°.

[0020] An infrared sensor is installed on the top of the outer frame. The infrared sensor is located above the cabbage collection box behind the conveying device. Cameras are installed on the outer frame and the trolley. The infrared sensor and the camera are connected to the main control system of the trolley.

[0021] The beneficial effects of this utility model are as follows:

[0022] 1. During the forward movement of the harvesting device for single-row Chinese cabbage, when a single Chinese cabbage approaches the harvesting device, the root-cutting device uses its front-large and rear-small root-cutting components to gather and hold the Chinese cabbage backward. It also receives a counter-clamping force to fix the Chinese cabbage in the desired position and transport it backward. At the same time, the roots of the Chinese cabbage are cut off from the ground by the counter-rotating double-toothed blades. Since the root-cutting device is at a 15° angle to the ground, the clamping force it provides also gives the Chinese cabbage an upward traction force, causing more of the Chinese cabbage roots to be exposed from the soil, making it easier for the root-cutting device located at the bottom of the clamping device to cut off the roots.

[0023] 2. After the cabbage is removed from the ground, it is transported to the conveyor device by the clamping and cutting components. The cabbage will be transported to the highest point of the conveyor device and then conveyed to the sorting and collecting device. As the conveyor chain is continuously transported upward, it will also roll slightly, which can shake off some of the dust attached to the cabbage. As the kinetic energy decreases, it can fall between the partition plates of the two sets of chains. The cabbage rises with the lifting of the chain until it reaches the top of the sorting and collecting device.

[0024] 3. When the cabbages reach the top of the conveyor, they will fall into the cabbage collection box, which is conveyed and supported by the transmission device, due to gravity. The height of the cabbage collection box is less than that of the overall collection device, which can reduce the damage to the cabbages due to falling. As the cabbages fall one by one into the cabbage collection box and it is full, the collection status of the cabbage collection box can be identified by infrared sensors set on the outer frame. Through the cooperation of the first, second and third transmission devices, the full cabbage collection box can be placed back on the support plate, and the empty cabbage collection box on the support plate can be picked up and passed to the rear of the conveyor. During this process, the overall running speed of the trolley is appropriately slowed down to prevent the cabbages from failing to fall into the box. When the empty box returns to the designed waiting area, the overall speed returns to the original speed. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the cabbage harvesting device provided by this utility model;

[0026] Figure 2 This is an overall plan view of the cabbage harvesting device provided by this utility model;

[0027] Figure 3 This is a schematic diagram of the transmission device structure of the Chinese cabbage harvesting device provided by this utility model;

[0028] Figure 4 This is a schematic diagram of the structure of the third transmission device of the Chinese cabbage harvesting device provided by this utility model;

[0029] Figure 5 This is a schematic diagram of the structure of the clamping and root-cutting component of the Chinese cabbage harvesting device provided by this utility model;

[0030] Figure 6 This is a three-dimensional structural diagram of the conveying device of the cabbage harvesting device provided by this utility model;

[0031] Figure 7 This is a plan view of the conveying device of the cabbage harvesting device provided by this utility model;

[0032] In the attached diagram, 1. Trolley; 2. Clamping and cutting device; 201. Blade; 202. Clamping frame; 203. Pulley II; 204. Belt II; 205. Motor III; 206. Motor IV; 3. Conveying device; 301. Mounting plate; 302. Sprocket; 303. Shaft; 304. Chain; 305. Spacer plate; 306. Support plate; 307. Motor V; 4. Separating and collecting device; 401. Outer frame; 4011. Support plate; 4012. Slide rail; 402. Cabbage collecting box; 403. First transmission device; 4031. Second transmission device; 4031. Third transmission device; 402. First transmission device; 4031. Second transmission device; 404. Third transmission device; 205. First transmission device; 206. Second transmission device; 207. Third transmission device; 208. Third transmission device; 209. Third transmission device; 200. Fourth transmission device; 20 ... 40311, Slider II; 4032, First Lead Screw; 4033, First Linear Optical Axis; 404, Second Transmission Device; 4041, Second Linear Module; 40411, Slider I; 4042, Second Lead Screw; 4043, Second Linear Optical Axis; 405, Third Transmission Device; 4051, Sliding Plate; 40511, Slide Groove; 4052, Guide Wheel; 4053, Pulley I; 4054, Servo Motor; 4055, Connecting Plate; 4056, Motor I; 4057, Support Plate; 4058, Baffle; 5, Connecting Arm. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the accompanying drawings.

[0034] like Figures 1 to 7 As shown, this utility model provides a cabbage harvesting device, which consists of four parts. The parts cooperate with each other, are interconnected, and do not interfere with each other. The dimensions of the harvesting device are 1042mm×518mm×562mm.

[0035] A Chinese cabbage harvesting device includes a trolley 1, a root-clamping and cutting device 2, a conveying device 3, and a box-collecting device 4.

[0036] The root-cutting device 2 is connected to the conveying device 3. The root-cutting device 2 and the conveying device 3 are connected by a connecting arm 5. The connecting arm 5 is at a 15° angle to the ground and is parallel to the root-cutting device 2. A box-collecting device 4 is provided behind the conveying device 3. The conveying device 3 and the box-collecting device 4 are both fixed on the trolley 1. The root-cutting device 2 clamps the cabbage and cuts off its root and transports it to the conveying device 3. The conveying device 3 transports the cabbage to the box-collecting device 4.

[0037] The sorting and collecting device 4 includes an outer frame 401, cabbage collecting boxes 402, and a transmission device. The outer frame 401 is mounted on the trolley 1. Multiple support plates 4011 are provided on the inner wall of the outer frame 401, and multiple cabbage collecting boxes 402 are placed on each support plate 4011. The transmission device transfers the cabbage collecting boxes 402 on the support plates 4011 to the rear of the conveyor device 3 for collecting cabbages. In this embodiment, the cabbage collecting boxes 402 have a low depth, which reduces damage caused by dropping and crushing during the cabbage collection process, effectively reducing the damage rate of the cabbages. The bottom has a grooved and raised design, facilitating the lifting of empty boxes and the lowering of full boxes by the pallet 4057, thus achieving the sorting and collecting function.

[0038] The transmission device includes a first transmission device 403, a second transmission device 404 and a third transmission device 405. The first transmission device 403 is fixed on the bottom plate of the outer frame 401. The second transmission device 404 is provided on the first transmission device 403. The first transmission device 403 drives the second transmission device 404 to move left and right.

[0039] The second transmission device 404 is equipped with a third transmission device 405. The second transmission device 404 drives the third transmission device 405 to move up and down. The third transmission device 405 picks up the cabbage collection box 402 on the support plate 4011 and passes the cabbage collection box 402 to the rear of the conveying device.

[0040] The first transmission device 403 and the second transmission device 404 have the same structure, both including a linear module, a lead screw, and a linear optical axis. The linear module is equipped with a lead screw and a linear optical axis. One end of the lead screw is connected to the motor of the linear module, and the other end is rotatably connected to the fixed plate of the linear module. The slider on the linear module is slidably connected to the linear optical axis. The motor drives the lead screw to rotate, which is used for the slider to move on the linear optical axis.

[0041] The linear module of the first transmission device 403 is fixed on the base plate of the outer frame 401; one end of the linear module of the second transmission device 404 is fixed on the slider of the linear module of the first transmission device.

[0042] The motors on the linear modules of the first transmission device 403 and the second transmission device 404 are respectively connected to the main control module on the trolley 1.

[0043] In this embodiment, the specific installation method of the first transmission device 403 and the second transmission device 404 is as follows: the first linear module 4031 in the first transmission device 403 is fixed to the base plate of the outer frame 401 by a fixing plate on it. The two first linear optical shafts 4033 pass through the linear bearings of the slider II 40311 and are respectively connected to the fixing plates at both ends of the first linear module 4031 through optical shaft support seats. One end of the first lead screw 4032 passes through the lead screw nut of the middle slider II 40311 and is connected to the fixing plate at one end through a bearing seat. The other end of the first lead screw 4032 is connected to the first linear module 4031 of the first transmission device. The motor is connected to the first linear module 4031 of the first transmission device. The slider II 40311 of the first linear module 4031 of the first transmission device is provided with the fixing plate of the second linear module 4041 of the second transmission device 404. The two second linear optical shafts 4043 pass through the linear bearings of the slider I 40411 of the second linear module of the second transmission device, and their two ends are connected to the optical shaft support seats on the fixing plates at both ends of the second linear module 4041. The second lead screw 4042 passes through the slider I 40411 of the second linear module 4041 of the second transmission device. One end is connected to the top motor of the second linear module 4041 through a coupling, and the other end is rotatably connected to the fixing plate of the second linear module 4041.

[0044] The outer frame 401 has a slide rail 4012 on its top inner wall, and the linear module of the second transmission device 404 has a slider III on its top. The slider III is connected to the slide rail 4012. The cooperation between the slider III and the slide rail 4012 here helps to improve the stability of the linear module of the second transmission device 404 when it moves.

[0045] The third transmission device 405 includes a sliding plate 4051, guide wheels 4052, pulley I 4053, and a servo motor 4054. The sliding plate 4051 is located above the slider I 40411 of the linear module of the second transmission device. Slide grooves 40511 are provided on both sides of the sliding plate 4051. A connecting plate 4055 is located above the sliding plate 4051, and four guide wheels 4052 are provided on the connecting plate 4055. The axles of the guide wheels 4052 are fixed to the slider I 40411. The output shaft of the motor I 4056, fixed to the connecting plate 4055, is connected to the pulley via a coupling. Ⅰ4053, a belt Ⅰ is connected to the outside of pulley Ⅰ4053, and the two ends of belt Ⅰ are fixedly connected to the two ends of the slide groove 40511 on one side of sliding plate 4051. Two guide wheels 4052 on the same side as belt Ⅰ are pressed against belt Ⅰ, and the other two guide wheels are connected to the slide groove 40511 on the other side of sliding plate 4051. A servo motor 4054 is provided above the connecting plate 4055. The servo motor 4054 is connected to the output shaft of motor Ⅱ fixed below the connecting plate 4055. A support plate 4057 is provided above the servo motor 4054, and a baffle 4058 is provided above the support plate 4057.

[0046] In this embodiment, the first linear module 4031 of the first transmission device 403 is disposed at the bottom of the outer frame 401 to support the upper structure. The second linear module 4041 of the second transmission device 404 is fixedly connected to the slider II 40311 of the first linear module 4031 of the first transmission device 403 and is arranged perpendicularly to the first linear module 4031 of the first transmission device 403. It can move along with the slider II 40311 of the first linear module of the first transmission device, realizing the movement of the second transmission device 404 in the y-axis direction. At the same time, the cooperation between the slide rail 4012 on the inner wall of the top of the outer frame 401 and the slider III on the second transmission device 404 can ensure that the second linear module 4041 of the second transmission device 404 moves stably, and at the same time, it can stabilize the overall stability of the device.

[0047] The slider I 40411 of the second linear module 4041 of the second transmission device 404 can move in the up and down z-axis direction, so that the third transmission device 405 can move in the up and down z-axis direction.

[0048] The guide wheel 4052 on the third transmission device 405 is set above the slider I 40411 of the second linear module 4041 of the second transmission device 404 via the connecting plate 4055. The slider I 40411 is equipped with a motor I 4056. The output shaft of the motor I 4056 is connected to the pulley I 4053 via a coupling. The pulley I 4053 meshes with the belt I. The two sides of the belt I are fixed to the slide groove 40511 of the sliding plate by screws. The belt I is pressed down by the guide wheel 4052. The guide wheel 4052 can also play the role of locking the sliding plate 4051 to achieve the function of slide rail, realizing the lateral movement function, which is an ingenious machine structure.

[0049] The servo motor 4054 mounted above the connecting plate 4055 can rotate 180°. The servo motor 4054 is connected to the support plate 4057 to support and move the cabbage collection box 402. Simultaneously, the baffle 4058 helps to fix the position of the cabbage collection box 402, ensuring it remains in the same position each time and providing stability. In this example, the third transmission device 405 uses guide wheels 4052 instead of the single-direction movement device of the linear modules of the first transmission device 403 and the second transmission device 404. This is because the third transmission device 405 needs to move freely and unimpeded in three-dimensional space and must be fixed to the linear module of the second transmission device 404. It requires the vertical movement of the linear module of the second transmission device 404 to lift and place the cabbage collection box. This example uses a simpler three-dimensional movement method composed of linear motion, which achieves the required functions without a complex control system to complete the robot's actions.

[0050] In this embodiment, the motor I 4056 of the third conveying device 405 drives the pulley I 4053 to move, causing the pulley I 4053 to drive the belt I to move. Since the belt I is fixed on the sliding plate 4051, the belt I drives the sliding plate 4051 to move. At the same time, the guide wheel 4052 presses on the belt I to tension the belt I, so that the belt I can smoothly drive the sliding plate 4051 to move back and forth, thereby driving the pallet 4057 to move. The angle of the pallet is adjusted by the servo motor 4054 so that the pallet 4057 is located below the cabbage collection box 402. The second transmission device 404 is further adjusted to lift the cabbage collection box 402, and the pallet 4057 is moved to the rear of the conveying device 3 by adjusting the first transmission device 403 and the third transmission device 405, thereby collecting cabbage. When one cabbage collection box is completed, a new cabbage collection box is placed and replaced in the same way until all cabbage collection boxes are full and then replaced.

[0051] The clamping and cutting device 2 consists of two symmetrically arranged clamping and cutting assemblies. Each clamping and cutting assembly includes a blade 201 and a clamping component. The clamping component includes a clamping frame 202, pulleys II 203, and belt II 204. The front and rear ends of the clamping frame 202 are each provided with two pulleys II 203, and the four pulleys II 203 are connected by belt II 204. One of the pulleys II 203 is equipped with a motor III 205. The bottom of the clamping frame 202 is provided with a blade 201, which is connected to the output shaft of a motor IV 206 fixed inside the clamping frame 202. The outer contour of the blade 201 extends beyond the front edge of the clamping frame 202, and the blade 201 is parallel to the bottom of the clamping frame 202. Motors IV 206 and III 205 are connected to the main control module on the trolley.

[0052] The two symmetrically arranged clamping and cutting components are not parallel to each other, and the front opening angle of the two clamping and cutting components is greater than the rear opening angle.

[0053] In this embodiment, the clamping frame 202 is formed by three plates. The first plate and the second plate are parallel to each other, and the third plate is connected between the first plate and the second plate to form a three-sided clamping frame 202. The distance between the first plate and the second plate of the clamping frame 202 is higher than the height of the motor IV 206 and the pulley II 203. The upper and lower end faces of the pulley II 203 are parallel to the first plate and the second plate of the clamping frame 202.

[0054] The main body of the clamping and cutting device 2 realizes its function through the blade 201 and the belt II 204. The motor IV 206 is set inside the clamping frame 202. The height of the motor IV 206 is less than the height of the clamping frame 202. The blade 201 is mounted on the rotating shaft of the motor IV 206 using a saw blade chuck. The blade 201 is parallel to the clamping frame 202. The motor III 205 is set at the top of the clamping frame 202. The drive pulley II 203 is connected above it to drive the belt II 204. The belt II 204 meshes with the four pulleys II 203 to ensure the transmission of torque. At the same time, the clamping and cutting device 2 is at a 15° angle to the ground to provide an upward component force when the belt is clamped, which serves as an upward traction force. It also makes it convenient to lift the cut cabbage to a certain height and drop it into the conveyor device 3 for the next working process.

[0055] In this embodiment, during use, symmetrically arranged clamping and cutting components clamp the cabbage. At the same time, motor III 205 is started, and pulley II 203 drives belt II 204 to move, causing the clamped cabbage to be transported backward. Since the device is at a 15° angle to the ground, the clamping force it provides can also give the cabbage an upward traction force, causing more of the cabbage root to be exposed from the soil. At this time, motor IV is started, and symmetrically arranged blades cut off the cabbage root and transport it to the conveying device.

[0056] The conveying device 3 includes two mounting plates 301, sprockets 302, a rotating shaft 303, a chain 304, and a spacer plate 305. The tops of the two mounting plates 301 are fixed to the trolley 1 by brackets. A set of sprockets 302 are symmetrically arranged on the top and bottom of the inner sides of the two mounting plates 301. The sprockets 302 are parallel to the mounting plates 301. The two sprockets 302 on each mounting plate 301 are connected by a chain 304, which meshes with the sprockets 302. The two chains 304... A partition plate 305 is provided between the 04 and the partition plate 305 is provided with auxiliary support plates 306 evenly spaced on the partition plate 305; the axles of a set of sprockets 302 on the top of the two mounting plates 301 are connected by a rotating shaft 303, the rotating shaft 303 and the sprockets 302 are connected by a flange, one end of the rotating shaft 303 is connected to a motor V 307 fixed on the outside of one of the mounting plates 301 by a coupling, and the other end of the rotating shaft 303 is rotatably connected to the other mounting plate 301; the motor V 307 is connected to the main control module on the trolley.

[0057] In this embodiment, the chain 304 has two more links than expected. This makes it easier to install the chain 304 on the sprocket 302 and also provides a certain buffering effect when the cabbage falls into the conveying device 3, thereby improving the cabbage's anti-damage function and reducing the damage rate of the cabbage.

[0058] Auxiliary support plates 306 are evenly distributed above the partition plate 305 to maintain the position of the Chinese cabbage and prevent it from rolling downwards without restriction and failing to reach the sorting and collecting device. The Chinese cabbage can achieve the effect of sifting soil by rolling slightly on the partition plate 305 without causing damage. After passing through the conveyor 3, it falls into the Chinese cabbage collection box 402 placed on the sorting and collecting device 4, completing the Chinese cabbage collection process.

[0059] An infrared sensor is provided on the top of the outer frame 401. The infrared sensor is located above the cabbage collection box 402 behind the conveying device 3. Cameras are provided on the outer frame 401 and the trolley 1. The infrared sensor and the camera are connected to the main control system of the trolley 1.

[0060] In this embodiment, the cameras on the outer frame 401 and the trolley 1 can observe the road conditions in front of the trolley and the condition of the collection box. The trolley can be driven and controlled by a mobile phone connected via Bluetooth module, and the device can be monitored in real time. The image information collected by the cameras on the outer frame and the trolley is transmitted to the mobile phone for the operator to monitor in real time and operate the machine. The camera set on the top of the outer frame allows the machine to observe the collection status of the box, thereby performing box changing actions and work start and end actions.

[0061] When the infrared sensor detects that the height of the cabbage inside the cabbage collection box 402 has reached 4 / 5 of the box height and remains so for 2 seconds, it will send a feedback to the main control system. The main control system will then control the motors on the linear modules of the first transmission device 403 and the second transmission device 404, as well as motors I 4056 and II on the third transmission device 405, to perform the box-changing action when the box is full. At the same time, it will control motor V on the conveyor device and the power device on the trolley to reduce the overall speed of the conveyor device and the trolley in order to prevent the cabbage from failing to fall into the cabbage collection box accurately during the box-changing action.

[0062] Motors III, IV, and V above the clamping and cutting device and the conveying device are driven by a control module to perform clamping, cutting, and transmission work. In this embodiment, the box collection device 4, in addition to infrared monitoring, can also be manually operated to change boxes. It can automatically replace full boxes, and can also perform box changing actions remotely using a camera and manual control when a few boxes are not detected. The first, second, and third transmission devices are used to realize the placement of boxes in three-dimensional arbitrary space. The overall device has complex functions but simple structure, which is sufficient to achieve the required purpose.

[0063] The intelligent cabbage harvesting robot of this utility model: A single use process:

[0064] When farmers need to collect Chinese cabbages, the trolley 1 starts. Information transmitted from the camera on trolley 1 allows them to view the real-time condition of the cabbage field at the control terminal. The center of the clamping and cutting device 2 is aligned with the center of each row of Chinese cabbages. As the farmer controls trolley 1 to move forward, the roots of the Chinese cabbages are cut off by the clamping and cutting device 2 and transported above the conveyor device 3. Specifically, the clamping assembly clamps the Chinese cabbage and simultaneously transports it backward to a suitable position. At this point, part of the root of the Chinese cabbage is lifted off the ground. Then, the blade 201 is activated to cut off the root of the Chinese cabbage, and the clamping assembly transports the Chinese cabbage above the conveyor device 3. The conveyor device 3 then moves upward to the sorting and collecting device 4. The sorting and collecting device 4 is equipped with a transmission device. Through the cooperation of the first transmission device 403, the second transmission device 404 and the third transmission device 405, the cabbage collecting boxes 402 on the outer frame support plate 4011 are transferred to the rear of the conveyor device 3 for cabbage collection. After a cabbage collecting box is full, the full box is automatically placed back on the support plate 4011, while the empty box is carried back to the collection area behind the conveyor device 3. After all the cabbage collecting boxes 402 on the support plate 4011 are full, the farmer operates the trolley 1 back to the unloading area to remove the full box and put the empty box back in its original position, thus completing one practical process of intelligent cabbage harvesting robot.

[0065] This new harvesting device can effectively protect and prevent damage to Chinese cabbage, minimizing the number of damaged cabbage plants. It greatly facilitates machine harvesting of Chinese cabbage for small and medium-sized farmers, reduces the number of damaged cabbage plants, lowers the economic losses caused by damage, and improves the income and efficiency of farmers and the market.

[0066] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A cabbage harvesting device, characterized in that, Includes a trolley, a root-cutting clamping device, a conveying device, and a box-collecting device; The root-cutting device is connected to the conveying device. A box-collecting device is located behind the conveying device. Both the conveying device and the box-collecting device are fixed on the trolley. The root-cutting device clamps the cabbage and cuts off its root, then transports it to the conveying device. The conveying device then transports the cabbage to the box-collecting device. The sorting and collecting device includes an outer frame, cabbage collecting boxes, and a transmission device. The outer frame is mounted on a trolley, and multiple support plates are provided on the inner wall of the outer frame. Multiple cabbage collecting boxes are placed on each support plate. The transmission device transfers the cabbage collecting boxes on the support plates to the rear of the conveyor device for collecting cabbage.

2. The Chinese cabbage harvesting device according to claim 1, characterized in that, The transmission device includes a first transmission device, a second transmission device and a third transmission device. The first transmission device is fixed on the bottom plate of the outer frame. The second transmission device is provided on the first transmission device. The first transmission device drives the second transmission device to move left and right. The second transmission device is equipped with a third transmission device. The second transmission device drives the third transmission device to move up and down. The third transmission device picks up the cabbage collection box on the support plate and passes the cabbage collection box to the rear of the conveyor device.

3. The Chinese cabbage harvesting device according to claim 2, characterized in that, The first and second transmission devices have the same structure, both including a linear module, a lead screw, and a linear optical axis. The linear module is equipped with a lead screw and a linear optical axis. One end of the lead screw is connected to the motor of the linear module, and the other end is rotatably connected to the fixed plate of the linear module. The slider on the linear module is slidably connected to the linear optical axis. The motor drives the lead screw to rotate, which is used for the slider to move on the linear optical axis. The linear module of the first transmission device is fixed on the base plate of the outer frame; one end of the linear module of the second transmission device is fixed on the slider of the linear module of the first transmission device. The motors on the linear modules of the first and second transmission devices are respectively connected to the main control module on the trolley.

4. The Chinese cabbage harvesting device according to claim 3, characterized in that, The outer frame is provided with a slide rail on the top inner wall, and the linear module of the second transmission device is provided with a slider III on the top, and the slider III is connected to the slide rail.

5. A Chinese cabbage harvesting device according to claim 3, characterized in that, The third transmission device includes a sliding plate, guide wheels, pulley I, and a servo motor. Above the slider of the linear module of the second transmission device is a sliding plate with grooves on both sides. Above the sliding plate is a connecting plate with four guide wheels. The axles of the guide wheels are fixed to the slider I. The output shaft of motor I, fixed to the connecting plate, is connected to pulley I via a coupling. Belt I is connected to the outside of pulley I. Both ends of belt I are fixedly connected to the ends of a groove on one side of the sliding plate. Two guide wheels on the same side as belt I are pressed against belt I, and the other two guide wheels are connected to a groove on the other side of the sliding plate. Above the connecting plate is a servo motor, which is connected to the output shaft of motor II, fixed below the connecting plate. Above the servo motor is a support plate, and above the support plate is a baffle.

6. A Chinese cabbage harvesting device according to claim 1, characterized in that, The clamping and cutting device consists of two symmetrically arranged clamping and cutting assemblies. Each clamping and cutting assembly includes a blade and a clamping component. The clamping component includes a clamping frame, pulleys II, and belts II. The front and rear ends of the clamping frame are each provided with two pulleys II. The four pulleys II are connected by belts II. One of the pulleys II is equipped with a motor III. The bottom of the clamping frame is provided with a blade, which is connected to the output shaft of a motor IV fixed inside the clamping frame. Motors III and IV are connected to the main control module on the trolley.

7. A Chinese cabbage harvesting device according to claim 6, characterized in that, The two symmetrically arranged clamping and cutting components are not parallel to each other, and the front opening angle of the two clamping and cutting components is greater than the rear opening angle.

8. A Chinese cabbage harvesting device according to claim 1, characterized in that, The conveying device includes two mounting plates, sprockets, shafts, chains, and spacers. The tops of the two mounting plates are fixed to the trolley by brackets. A set of sprockets is symmetrically arranged on the top and bottom of the inner sides of the two mounting plates. The two sprockets on each mounting plate are connected by chains, and a spacer is provided between the two chains. Auxiliary support plates are evenly spaced on the spacer. The axles of the set of sprockets on the top of the two mounting plates are connected by shafts. One end of the shaft is connected to a motor V fixed to the outside of one of the mounting plates by a coupling, and the other end of the shaft is rotatably connected to the other mounting plate. Motor V is connected to the main control module on the trolley.

9. A Chinese cabbage harvesting device according to claim 1, characterized in that, The root-cutting clamping device and the conveying device are connected by a connecting arm. The root-cutting clamping device is parallel to the connecting arm, and the angle between the connecting arm and the ground is 15°.

10. A Chinese cabbage harvesting device according to claim 1, characterized in that, An infrared sensor is installed on the top of the outer frame. The infrared sensor is located above the cabbage collection box behind the conveying device. Cameras are installed on the outer frame and the trolley. The infrared sensor and the camera are connected to the main control system of the trolley.

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