Asparagus lettuce harvesting, leaf removing and boxing all-in-one machine

Abstract

An asparagus lettuce harvesting, leaf removing and boxing all-in-one machine comprises a machine frame, a walking system, an infrared sensor used for detecting asparagus lettuce, a harvesting system, a leaf removing system, a boxing system and a control system, the machine frame is installed on the walking system, and the infrared sensor and the harvesting system are both installed at the front end of the machine frame; the leaf removing system is installed in the center of the upper portion of the machine frame, the boxing system is installed on the rear portion of the machine frame, and the control system is installed at the bottom of the machine frame. The walking system, the infrared sensor, the harvesting system, the leaf removing system and the boxing system are all connected with the control system. According to the asparagus lettuce harvesting, leaf removing and boxing all-in-one machine, efficient harvesting of asparagus lettuce is achieved, manual operation is reduced as much as possible in the asparagus lettuce production process, and therefore production efficiency is improved, and labor cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and in particular to an integrated machine for harvesting, defoliating, and packing lettuce. Background Technology

[0002] With the continued growth of the global population, the demand for food and vegetables is constantly increasing. Lettuce, as a vegetable with high nutritional value and large market demand, has seen its planting area expand year by year. However, traditional lettuce harvesting methods mainly rely on manual labor, which is inefficient and labor-intensive, making it difficult to meet the needs of large-scale planting and rapid market entry. Summary of the Invention

[0003] To address the shortcomings of low efficiency and high labor demand in manual harvesting of lettuce, this utility model provides an integrated machine for harvesting, defoliating, and packing lettuce, achieving efficient harvesting of lettuce and minimizing manual operation during the production process, thereby improving production efficiency and reducing labor costs.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] A lettuce harvesting, defoliating, and packing integrated machine includes a frame, a walking system, an infrared sensor for detecting lettuce, a harvesting system, a defoliating system, a packing system, and a control system. The frame is mounted on the walking system. The infrared sensor and the harvesting system are both mounted at the front end of the frame. The defoliating system is mounted at the center of the upper part of the frame. The packing system is mounted at the rear of the frame. The control system is mounted at the bottom of the frame. The walking system, infrared sensor, harvesting system, defoliating system, and packing system are all connected to the control system.

[0006] Furthermore, the harvesting system includes a cutting device, a lifting device, and a clamping device, wherein the lifting device is located above the cutting device, and the clamping device is mounted on the lifting device;

[0007] The cutting device includes two cutting units arranged symmetrically from left to right. Each cutting unit includes a parallelogram bracket, rollers, a DC motor, a blade coupling, and a cutting blade. The rear end of the parallelogram bracket is connected to the front end of the frame. The rollers are mounted on the lower front end of the parallelogram bracket, and the DC motor is mounted on the upper front end of the parallelogram bracket. All four connection points of the parallelogram bracket are hinged. The cutting blade is located above the DC motor and is connected to the output end of the DC motor through the blade coupling.

[0008] The lifting device includes two harvesting lifting screw mechanisms and a lifting bracket. The two harvesting lifting screw mechanisms are symmetrically mounted on the frame, and the lifting bracket is mounted on the screw nuts of the two harvesting lifting screw mechanisms.

[0009] The clamping device is a six-degree-of-freedom mechanical jaw, which is mounted on a lifting bracket. The jaw of the clamping device is located above the cutting blades of the two cutting units.

[0010] Furthermore, the leaf removal system includes two leaf removal units, which are symmetrically arranged in the center of the upper part of the frame. Each leaf removal unit includes a leaf removal lifting screw mechanism, a left and right moving screw mechanism, and a leaf removal semi-ring structure. The leaf removal lifting screw mechanism is mounted on the screw nut of the left and right moving screw mechanism, and the leaf removal semi-ring structure is mounted on the screw nut of the leaf removal lifting screw mechanism. The leaf removal semi-ring structures of the two leaf removal units are arranged opposite each other, and when they form a closed loop, they just surround the lettuce stem skin.

[0011] Furthermore, the packing system includes a conveying device and a storage box, with the conveying device positioned between the leaf removal system and the storage box;

[0012] The conveying device includes a forward and backward moving lead screw mechanism and a box clamping mechanism. The box clamping mechanism is located in front of the storage box and is mounted on the lead screw nut of the forward and backward moving lead screw mechanism. The box clamping mechanism adopts a six-degree-of-freedom mechanical claw, and the gripper of the six-degree-of-freedom mechanical claw is located above the leaf removal semi-ring structure of the leaf removal unit. The gripper of the clamping device is rotated 180 degrees from front to back and is vertically aligned with the gripper of the box clamping mechanism.

[0013] Furthermore, the control system includes a microcontroller and a control panel. The microcontroller is mounted on a frame and connected to the control panel, various motors, solar panels, and infrared sensors via wires.

[0014] The beneficial effects of this utility model are mainly reflected in:

[0015] This invention automates and intelligently processes the harvesting, defoliation, and packaging of lettuce, thereby improving production efficiency and product quality, and bringing significant economic benefits. Farmers and businesses can automate production, reducing labor costs, increasing yield and product quality, and boosting income. Simultaneously, it makes agricultural products more competitive and expands market reach.

[0016] The development of this utility model requires the integration of various materials, technologies and processes, involving multiple fields such as materials science, mechanical engineering, and electronic technology. Its development process has greatly promoted technological innovation, realized resource integration, and achieved technological innovation. In addition, the emergence of the integrated machine for harvesting, defoliating, and packing lettuce has brought about a breakthrough in the development of new lettuce equipment, thereby driving the creative transformation and innovative development of the new lettuce equipment industry.

[0017] The promotion and application of this utility model can alleviate the shortage of rural labor, reduce the labor intensity of farmers, and improve the modernization level of agricultural production. Furthermore, automated and intelligent production can improve product quality and safety, meeting consumers' demand for healthy and safe food. The emergence of the integrated lettuce harvesting, defoliation, and packing machine fills the gap in traditional lettuce equipment's inability to achieve automatic harvesting and packing, enabling traditional lettuce equipment to promptly remove leaves after harvesting. Moreover, with the emergence of new agricultural equipment such as the integrated lettuce harvesting, defoliation, and packing machine, the production efficiency and scale of lettuce have been further guaranteed, greatly stimulating enthusiasm for the industry, helping to promote the upgrading and transformation of the agricultural industry, improving the modernization level of agricultural production such as lettuce, and effectively promoting the development of the lettuce industry. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model.

[0019] Figure 2 This is a schematic diagram of the harvesting system.

[0020] Figure 3 This is a schematic diagram of the cutting device in the harvesting system.

[0021] Figure 4 This is a schematic diagram of the lifting and clamping device of the harvesting system.

[0022] Figure 5 This is a schematic diagram of the leaf removal system.

[0023] Figure 6 This is a schematic diagram of the packing system.

[0024] Figure 7 This is a schematic diagram of the conveying device in the packing system. Detailed Implementation

[0025] The present invention will now be further described with reference to the accompanying drawings.

[0026] Reference Figures 1 to 7A lettuce harvesting, defoliating, and packing integrated machine includes a frame 1, a walking system, an infrared sensor for detecting lettuce, a harvesting system 2, a defoliating system 3, a packing system 4, and a control system. The frame 1 is mounted on the walking system. The infrared sensor and the harvesting system 2 are both mounted at the front end of the frame 1. The defoliating system 3 is mounted at the center of the upper part of the frame 1. The packing system 4 is mounted at the rear of the frame 1. The control system is mounted at the bottom of the frame 1. The walking system, infrared sensor, harvesting system 2, defoliating system 3, and packing system 4 are all connected to the control system.

[0027] like Figure 1 As shown, the frame 1 is constructed from aluminum profiles and corner brackets, with the corner brackets used to fix the aluminum profiles and connect other components. The walking system includes a trolley chassis, four wheels, and four wheel motors, with the frame 1 mounted on the trolley chassis. When the integrated machine is running, the control system sequentially controls the other systems. First, the harvesting system 2 cuts the lettuce and conveys it to the next system. The defoliation system 3 removes the leaves from the lettuce, and the conveyor device of the packing system 4 then conveys the defoliated lettuce to the storage bin.

[0028] like Figures 2 to 4 As shown, the harvesting system 2 includes a cutting device 5, a lifting device 6, and a clamping device 7. The lifting device 6 is located above the cutting device 5, and the clamping device 7 is mounted on the lifting device 6.

[0029] The cutting device 5 includes two cutting units arranged symmetrically from left to right. Each cutting unit includes a parallelogram bracket 8, rollers, a DC motor 9, a blade coupling 10, and a cutting blade 11. The rear end of the parallelogram bracket 8 is connected to the front end of the frame 1 via an angle bracket. The rollers are mounted on the lower part of the front end of the parallelogram bracket 8. The DC motor 9 is mounted on the upper part of the front end of the parallelogram bracket 8. The cutting blade 11 is located above the DC motor 9 and is fixed to the blade coupling 10 by bolts. The blade coupling 10 is connected to the output end of the DC motor 9. The parallelogram bracket 8 is composed of five connecting rods, four of which form a parallelogram. The four connection points of the parallelogram are hinged. The fifth connecting rod is arranged at the front and rear and is connected to the middle of the parallelogram.

[0030] The lifting device 6 includes two harvesting lifting screw mechanisms 12 and 13 and a lifting bracket 14. The two harvesting lifting screw mechanisms 12 and 13 are symmetrically installed on the frame 1. Both harvesting lifting screw mechanisms 12 and 13 are screw nut mechanisms. The lifting bracket 14 is installed on the screw nuts of the two harvesting lifting screw mechanisms 12 and 13.

[0031] The clamping device 7 is a six-degree-of-freedom mechanical claw 15, which includes a rotary servo, a U-shaped bracket, a tilting servo, a clamping servo, and grippers. The grippers of the clamping device 7 are located above the cutting blades of the two cutting units. The rotary servo is mounted on the lifting bracket 14 via a Z-shaped bracket. The lower end of the U-shaped bracket is connected to the output end of the rotary servo. The tilting servo is mounted on the upper end of the U-shaped bracket. The rear end of the gripper is connected to the output end of the tilting servo. The two claws of the gripper are connected to the output end of the clamping servo. The clamping servo enables the opening and closing of the gripper, the tilting servo enables the tilting of the gripper, and the rotary servo enables the rotation of the gripper.

[0032] When the infrared sensor detects lettuce in front, the gripper of the six-degree-of-freedom mechanical claw 15 is clamped by the clamping servo motor. The DC motor 9 drives the cutting blade 11 to start cutting. At the same time, the height of the cutting blade 11 is automatically adjusted by the parallelogram bracket 8 and the roller. After cutting, the six-degree-of-freedom mechanical claw 15 is lifted by the two harvesting lifting screw mechanisms 12 and 13. The gripper of the six-degree-of-freedom mechanical claw rotates 180 degrees backward, so that the lettuce is in a vertical upside-down state, and the harvesting system 2 ends its work.

[0033] like Figure 5 As shown, the leaf removal system 3 includes two leaf removal units, which are symmetrically arranged in the center of the upper part of the frame 1. Each leaf removal unit includes a leaf removal lifting screw mechanism, a left and right moving screw mechanism, and a leaf removal semi-ring structure. Both the leaf removal lifting screw mechanism and the left and right moving screw mechanism are screw-nut mechanisms. The leaf removal lifting screw mechanism is installed on the screw nut of the left and right moving screw mechanism, and the leaf removal semi-ring structure is installed on the screw nut of the leaf removal lifting screw mechanism. The leaf removal semi-ring structures of the two leaf removal units are arranged opposite each other, and when they form a closed loop, they just surround the lettuce stem skin.

[0034] Left and right moving screw mechanisms 16 and 17 are symmetrically mounted on the frame 1. Leaf removal lifting screw mechanisms 19 and 18 are mounted on left and right moving screw mechanisms 16 and 17 respectively. Leaf removal semi-ring structure 20 and 21 are mounted on leaf removal lifting screw mechanism 19 and 18 respectively.

[0035] By controlling the left and right moving lead screw mechanism 16 and the left and right moving lead screw mechanism 17, the leaf removal lifting lead screw mechanism 19 and the leaf removal lifting lead screw mechanism 18 move towards the center. The leaf removal semi-ring structure 20 and the leaf removal semi-ring structure 21 just surround the lettuce stem skin. By controlling the leaf removal lifting lead screw mechanism 19 and the leaf removal lifting lead screw mechanism 18, the leaf removal semi-ring structure 20 and the leaf removal semi-ring structure 21 move up and down back and forth, removing the leaves from the lettuce stem skin. The leaf removal system 3 then ends its work.

[0036] like Figure 6 and Figure 7 As shown, the packing system 4 includes a conveying device 22 and a storage box 23, with the conveying device 22 disposed between the leaf removal system 3 and the storage box 23;

[0037] The conveying device includes a forward and backward moving lead screw mechanism 24 and a box-packing clamping mechanism. The forward and backward moving lead screw mechanism 24 is a lead screw and nut mechanism. The box-packing clamping mechanism adopts a six-degree-of-freedom mechanical claw 25, which has the same structure as the six-degree-of-freedom mechanical claw 15. The forward and backward moving lead screw mechanism 24 is mounted on the frame 1, and the six-degree-of-freedom mechanical claw 25 is mounted on the lead screw nut of the forward and backward moving lead screw mechanism 24. The gripper of the six-degree-of-freedom mechanical claw 25 is located above the leaf removal semi-ring structure of the leaf removal unit. The gripper of the clamping device rotates 180 degrees from front to back and is vertically aligned with the gripper of the box-packing clamping mechanism. The storage box 23 is mounted on the frame 1. The clamping servo motor controls the gripper of the six-degree-of-freedom claw 25 to clamp the lettuce. The six-degree-of-freedom mechanical claw 15 releases the lettuce. The forward and backward moving lead screw mechanism 24 is controlled to move the six-degree-of-freedom mechanical claw 25 backward. The six-degree-of-freedom mechanical claw 25 places the leaf-removed lettuce into the storage box 23 in a certain order, and the box-packing system 4 ends its operation.

[0038] The control system includes a microcontroller and a control panel. The microcontroller is mounted on the frame 1 and connected to the control panel, various motors, solar panels, and infrared sensors via wires. The solar panels are mounted above the storage box to provide power to the battery. The battery is connected to various motors via the microcontroller.

[0039] The working process of this utility model is as follows:

[0040] Step 1: Preparation and Startup

[0041] Once the all-in-one machine is powered on and the switch is turned on, the control system operates the wheel motors based on feedback signals from the infrared sensors.

[0042] Step 2: Harvesting the lettuce

[0043] As the all-in-one machine continues to move forward, when the infrared sensor detects lettuce in front, the six-degree-of-freedom mechanical claw 15 is controlled by the clamping servo motor to clamp the lettuce. The DC motor 9 drives the cutting blade 11 to start cutting. At the same time, the height of the cutting blade 11 is automatically adjusted by the parallelogram bracket 8 and the roller. After cutting, the six-degree-of-freedom mechanical claw 15 is lifted by the two harvesting lifting screw mechanisms 12 and 13. The gripper of the six-degree-of-freedom mechanical claw 15 rotates backward 180 degrees, so that the lettuce is in a vertical inverted state.

[0044] Step 3: Remove the leaves from the lettuce.

[0045] By controlling the left and right moving screw mechanisms 16 and 17, the leaf removal lifting screw mechanisms 19 and 18 are moved towards the center, and the leaf removal semi-ring structures 20 and 21 just surround the lettuce stem skin. By controlling the leaf removal lifting screw mechanisms 19 and 18, the leaf removal semi-ring structures 20 and 21 move up and down to remove the leaves from the lettuce stem skin.

[0046] Step 4: Packing the lettuce

[0047] The clamping servo controls the gripper 25 of the six-degree-of-freedom mechanical claw to clamp the lettuce. The six-degree-of-freedom mechanical claw 15 releases the lettuce. The forward and backward movement screw mechanism 24 controls the six-degree-of-freedom mechanical claw 25 to move backward. The six-degree-of-freedom mechanical claw 25 is controlled to place the leafless lettuce into the storage box 23 in a certain order.

[0048] This invention automatically cuts lettuce while maintaining its length, automatically removes lettuce leaves while preserving its appearance, and automatically packs the lettuce while maintaining its integrity. It achieves integrated, automated, and intelligent lettuce harvesting, leaf removal, and packing, filling the gap in the current domestic market for efficient lettuce harvesters and expanding the agricultural machinery market. This invention effectively improves harvesting efficiency, alleviates labor shortages, ensures a stable supply of lettuce, and thus better meets people's growing dietary needs.

[0049] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any direct or indirect application of the structure described in the present utility model specification and drawings to other related technical fields should be included within the patent protection scope of the present utility model.

Claims

1. A lettuce harvesting, leaf removal, and packing integrated machine, characterized in that: The system includes a frame, a walking system, an infrared sensor for detecting lettuce, a harvesting system, a defoliation system, a boxing system, and a control system. The frame is mounted on the walking system. The infrared sensor and the harvesting system are both mounted at the front end of the frame. The defoliation system is mounted at the center of the upper part of the frame. The boxing system is mounted at the rear of the frame. The control system is mounted at the bottom of the frame. The walking system, infrared sensor, harvesting system, defoliation system, and boxing system are all connected to the control system.

2. The integrated machine for harvesting, defoliating and boxing of lettuce according to claim 1, characterized in that: The harvesting system includes a cutting device, a lifting device, and a clamping device. The lifting device is located above the cutting device, and the clamping device is mounted on the lifting device. The cutting device includes two cutting units arranged symmetrically from left to right. Each cutting unit includes a parallelogram bracket, rollers, a DC motor, a blade coupling, and a cutting blade. The rear end of the parallelogram bracket is connected to the front end of the frame. The rollers are mounted on the lower front end of the parallelogram bracket, and the DC motor is mounted on the upper front end of the parallelogram bracket. All four connection points of the parallelogram bracket are hinged. The cutting blade is located above the DC motor and is connected to the output end of the DC motor through the blade coupling. The lifting device includes two harvesting lifting screw mechanisms and a lifting bracket. The two harvesting lifting screw mechanisms are symmetrically mounted on the frame, and the lifting bracket is mounted on the screw nuts of the two harvesting lifting screw mechanisms. The clamping device is a six-degree-of-freedom mechanical jaw, which is mounted on a lifting bracket. The jaw of the clamping device is located above the cutting blades of the two cutting units.

3. The integrated machine for harvesting, defoliating and boxing of lettuce according to claim 1 or 2, characterized in that: The leaf removal system includes two leaf removal units, which are symmetrically arranged in the center of the upper part of the frame. Each leaf removal unit includes a leaf removal lifting screw mechanism, a left and right moving screw mechanism, and a leaf removal semi-ring structure. The leaf removal lifting screw mechanism is mounted on the screw nut of the left and right moving screw mechanism, and the leaf removal semi-ring structure is mounted on the screw nut of the leaf removal lifting screw mechanism. The leaf removal semi-ring structures of the two leaf removal units are arranged opposite each other, and when they form a closed loop, they just surround the lettuce stem skin.

4. The lettuce harvesting, defoliating and boxing integrated machine according to claim 1 or 2, characterized in that: The packing system includes a conveying device and a storage box, wherein the conveying device is disposed between the leaf removal system and the storage box; The conveying device includes a forward and backward moving lead screw mechanism and a box clamping mechanism. The box clamping mechanism is located in front of the storage box and is mounted on the lead screw nut of the forward and backward moving lead screw mechanism. The box clamping mechanism adopts a six-degree-of-freedom mechanical claw. The gripper of the six-degree-of-freedom mechanical claw is located above the leaf removal semi-ring structure of the leaf removal unit. The gripper of the clamping device is rotated 180 degrees from front to back and is vertically aligned with the gripper of the box clamping mechanism.

5. The integrated machine for harvesting, defoliating and boxing of lettuce according to claim 1 or 2, characterized in that: The control system includes a microcontroller and a control panel. The microcontroller is mounted on a frame and connected to the control panel, motor, solar panel, and infrared sensor via wires.

Images