A double-row electric cabbage harvester

Abstract

This utility model relates to the field of cabbage harvesting, specifically a double-row electric cabbage harvester. It includes an electric tracked chassis with a header assembly and a longitudinal inclined conveyor mechanism on the chassis. A collection and unloading mechanism is located above the upright frame assembly. Behind the longitudinal inclined conveyor mechanism is a leaf-peeling mechanism for stripping and transporting the cabbage leaves. Vertical conveyor mechanisms are located on both sides of the leaf-peeling mechanism, which systematically transfer the peeled cabbage leaves from both sides, from bottom to top, to the collection and unloading mechanism. Its advantages are: firstly, the machine replaces the upper cab with a large-capacity cabbage collection device, enabling timely collection, gathering, and automatic unloading of harvested cabbage, improving collection efficiency and reducing cabbage damage; secondly, it replaces the traditional diesel engine with new energy and an electric motor, enabling remote control and integration with a mature Beidou navigation unmanned agricultural machinery control system, achieving unmanned operation and transforming the equipment towards smart agriculture.

Description

Technical Field

[0001] This utility model relates to vegetable harvesting machinery, specifically a double-row electric cabbage harvester. Background Technology

[0002] Cabbage is one of the main vegetable varieties, but compared with grain production, the level of mechanization in vegetable production is relatively backward. For a long time, cabbage harvesting has still relied mainly on manual labor, which is characterized by low labor efficiency, high labor intensity, poor work quality, and high production costs.

[0003] In recent years, the applicant, together with the Nanjing Institute of Agricultural Mechanization of the Ministry of Agriculture and Rural Affairs, has jointly conducted research and development on cabbage harvesting machinery, and designed a series of cabbage harvesting machines. The published authorized utility model patent of the Nanjing Institute of Agricultural Mechanization of the Ministry of Agriculture and Rural Affairs, "Cabbage Harvester" (patent number 2021101436874), consists of a walking mechanism, a harvesting mechanism, and a transmission mechanism. Its features include a walking mechanism comprising a chassis assembly and two track assemblies. The width of the chassis frame and the distance between the two track assemblies are adjustable via sliders and hydraulic cylinders mounted on the chassis frame. The harvesting mechanism and the transmission mechanism are both mounted on the walking mechanism and can move together with it.

[0004] The applicant has two utility model patents. One is a ride-on tracked cabbage harvester with patent number 202222949244.7, which includes a header assembly, a tracked power chassis, a cabbage conveying mechanism assembly, a cab, and a diesel engine. The header assembly is modularly and integrally mounted on the front end of the frame, achieving both vertical and tilting lifting functions through lifting and tilting cylinders. A figure-eight-shaped stripping roller is installed above the transverse conveyor belt, with a speed difference between the stripping roller on the same side and the transverse conveyor belt, allowing for dynamic stripping of cabbage waste leaves during transport. An electronic display screen in the cab allows for dynamic monitoring of harvesting, conveying, and leaf stripping. The machine is driven by a tracked hydraulic continuously variable transmission power chassis. The overall structure is reasonable, with high operating efficiency, safe and stable travel, continuously variable transmission, convenient operation, and a high degree of informatization, enabling fully mechanized cabbage harvesting.

[0005] The second patent, number 2022208712019, discloses a hand-held self-propelled cabbage harvester with a hand-held self-propelled chassis and a T-shaped conveyor belt positioned directly below the frame. This patent uses a gasoline engine as its power source and suspends a single-row cutting platform assembly via the hand-held self-propelled chassis. The difference between this patent and the aforementioned patent is that it uses a gasoline engine, a hand-held self-propelled chassis, and the entire machine is compact, flexible, easy to use, and low-cost, capable of harvesting single rows of cabbage.

[0006] However, the above-mentioned institutions have the following drawbacks: First, all equipment and institutions only harvest cabbage, but do not collect and sort the harvested cabbage. Manual assistance is required at the back of the machine to bag the cabbage, which reduces the collection efficiency. When the harvesting efficiency is high, the manual labor at the back cannot bag the cabbage in time. When the machine turns around to harvest, it is easy to crush the unbagged cabbage, causing damage to the cabbage. Second, manual operation is required on the machine. When working for a long time, the staff are prone to fatigue. Summary of the Invention

[0007] The purpose of this invention is to provide a double-row electric cabbage harvester to solve the problems existing in the background art.

[0008] The technical solution of this utility model includes a tracked chassis (3), a cutting table assembly (5), a ramp longitudinal conveying mechanism (2), a transverse conveying leaf stripping mechanism C, a chassis drive motor (7), and a lithium battery (8). A column frame assembly (6) is mounted on the tracked chassis (3). The cutting table assembly (5) is located at the front end of the column frame assembly (6), the ramp longitudinal conveying mechanism (2) is located in the middle of the column frame assembly (6), and the chassis drive motor (7) and lithium battery (8) are located at the middle and rear ends of the column frame assembly. The lithium battery (8) provides power to the entire machine. The transverse conveying leaf stripping mechanism C and... The inclined longitudinal conveying mechanism (2) is arranged in a T-shape on the rear side of the inclined longitudinal conveying mechanism (2); the characteristic is that the transverse conveying leaf stripping mechanism C is composed of a transverse conveying hinge (30) and a leaf stripping roller (23), the leaf stripping roller is a soft brush roller, the spiral blades (31, 32) on the transverse conveying hinge (30) are symmetrically arranged in opposite directions, and the leaf stripping roller (23) is arranged parallel to the transverse conveying hinge (30); the two sides of the conveying leaf stripping mechanism C are symmetrically provided with vertical conveying mechanisms B, and the top of the whole machine is provided with a collection and unloading device A that can be flipped over to unload the whole machine and has a large-capacity collection box (12).

[0009] The vertical conveying mechanism B includes a conveying sprocket (48), a chain (50), an elastic gripper (44), a vertical fixed bracket (37), and an outer baffle (38) made of a perforated plate. The outer baffle (38) covers the outside of the vertical fixed bracket (37) and is fixed to the frame of the whole machine. The elastic gripper (44) is fixed on two vertically parallel rotating chains (50) and rotates up and down with the chains (50). The elastic gripper (44) is made of elastic material and is shaped like a human hand, slightly bent in a lifting position. The palm of the bent hand faces the same direction as the running direction of the chain (50). The upper side of the vertical fixed bracket (37) adjacent to the collection box (12) is provided with an upper guide rod (56), and the lower side is a lower bent rod (54), which is connected to the vertical fixed bracket. The fixed bracket (37) is fixed as one piece; when the elastic gripper (44) runs to the lower curved rod (54) or the upper guide rod (56), it can pass through with its "ten fingers" interlaced; when the transverse conveying auger (30) drops the peeled cabbage from the two shaft ends into the lower curved rod (54), the elastic gripper (44) on the rotating chain can effectively lift it and smoothly lift and transport it to the upper guide rod (56), and then the upper guide rod (56) smoothly guides the cabbage into the collection box (12) of the collection and unloading device A; a vertical conveying motor (42) providing driving force is provided on the lower side of the vertical fixed bracket (37), and it is connected to the drive sprocket (43) on the lower conveying shaft (49) through the chain sprocket; the outer baffle (38) is provided with a feed port (36) to facilitate the entry of cabbage.

[0010] The vertical conveying mechanism B also includes a conveying shaft (49) and a conveying sprocket (48) arranged symmetrically on the upper and lower sides. The conveying shaft (49) is mounted on the upper and lower sides of the vertical fixed support (37) through bearing seats. The conveying shaft (49) is equipped with a conveying sprocket (48). The two conveying sprockets (48) arranged vertically are connected by a chain (50). The chain (50) is a bent plate chain. The bent plate chain is equipped with no less than 7 sets of evenly distributed bent plate joints (53) and connecting plates (52). The two ends of the gripper shaft (51) are fixedly connected to the connecting plates (52) arranged symmetrically on both sides, so that the two rotating chains (50) move synchronously. The gripper shaft (51) is equipped with an elastic gripper (44). The outer baffle (38) made of hollow plate covers the vertical fixed support (37). 7) On the outside, a side baffle (57) is provided on the lower side of the outer baffle (38). The bottom side of the side baffle is provided with a lower bent rod (54) made of more than 6 round steel bars. That is, the lower bent rod (54), the side baffle (57) and the outer baffle (38) are all welded on the vertical fixed bracket (37) to form a protective enclosure for the rotating chain (50) and the elastic claw (44). The lower bent rods (54) at the bottom of the enclosure are provided with gaps between each other to allow the elastic claw (44) to pass through. The upper guide rod (56) is directly welded to the upper end of the vertical fixed bracket (37). The number of the upper guide rods is the same as the number of the lower bent rods (54). Both of them allow the elastic claw (44) to pass through with their fingers intersecting. The top of the vertical fixed bracket (37) is also provided with a limiting guide cover (55).

[0011] The collection and unloading device A also includes a horizontal conveyor platform (15) symmetrically arranged on both sides of the upper opening of the collection box (12). The conveyor belt on the horizontal conveyor platform (15) is independently driven by the conveyor platform drive motor (21). The box body of the collection box (12) is a hollow plate fence structure. The front side plate (17) of the collection box (12) is an electric unloading door that can be opened or closed. The entire bottom side of the collection box (12) is composed of small rollers (11). The horizontal conveyor platform (15) is provided with a barrier (14) at one end near the upper guide rod (56) of the vertical conveying mechanism B, so as to send the cabbage from the vertical conveying mechanism B into the collection box (12).

[0012] The horizontal conveying platform (15) is provided with a guide plate (16) corresponding to the enclosure (14). The guide plate (16) cooperates with the enclosure (14) to guide the cabbage from the vertical conveying mechanism B into the collection box (12) while preventing the cabbage from falling off the horizontal conveying platform (15).

[0013] The collection box (12) is equipped with a horizontal material equalization hinge (61), which spans the upper side of the horizontal conveyor table (15). The two shaft ends of the horizontal material equalization hinge (61) can be supported on both sides of the collection box (12) by the slide rail slider (64), and can move back and forth across the collection box (12) so that the cabbage sent by the vertical conveyor mechanism B can be smoothly introduced into the collection box (12) and the cabbage can be evenly stacked in the collection box (12). The back and forth movement of the horizontal material equalization hinge (61) is independently driven by the electric push rod four (62).

[0014] The transverse conveying leaf-stripping mechanism C includes a fixed frame (29), a mounting frame (24), a leaf-stripping roller (23), and a transverse conveying hinge (30). The fixed frame (29) and the mounting frame (24) are distributed on both sides and connected by plates. The mounting frame (24) is provided with two right-angle conversion boxes (25). The right-angle conversion boxes (25) are connected in series by a transition shaft (26), and the right-angle conversion boxes (25) are evenly connected with leaf-stripping rotating shafts (22). The other end of the leaf-stripping rotating shaft (22) is connected to the fixed frame (29) through a bearing seat. The leaf-stripping roller (23) and the transverse conveying hinge (30) are connected in series by a transition shaft (26). 30) The rollers are supported on the fixed frame (29) by the leaf stripping shaft (22); the transverse conveying hinge (30) is provided with symmetrically arranged forward spiral blades (31) and reverse spiral blades (32); the upper part of the mounting frame (24) is provided with a leaf stripping drive motor (27) that provides driving force; the leaf stripping drive motor (27) and the transition shaft (26) are both provided with sprockets (28) and connected by chains; the lower part between the leaf stripping roller (23) and the transverse conveying hinge (30) is provided with a waste leaf diversion guide plate (33) that can divert and guide the stripped waste leaves.

[0015] The leaf-stripping roller (23) and the transverse conveying hinge (30) in the transverse conveying leaf-stripping mechanism C are composed of two sets of devices symmetrically arranged on the left and right sides. That is, it includes a mounting frame (24) and two sets of fixed frames (29) symmetrically arranged on both sides, leaf-stripping roller (23) and transverse conveying hinge (30). The fixed frames (29) and the mounting frame (24) are connected by plates. The mounting frame (24) is provided with two right-angle conversion boxes (25) and connected in series by a transition shaft (26). Leaf-stripping rotating shafts (22) pass through both sides of the right-angle conversion boxes (25). The two ends of the leaf-stripping rotating shafts (22) are connected to the fixed frames (29) through bearing seats. The leaf-stripping rollers (23) and the transverse conveying hinge (30) symmetrically arranged on both sides are supported on the fixed frames (29) by the leaf-stripping rotating shafts (22). 29) On one side of the transverse conveying hinge (30), there is a forward spiral blade (31), and on the other side of the transverse conveying hinge (30), there is a reverse spiral blade (32); above the mounting frame (24), there is a leaf-peeling drive motor (27) that provides driving force. The leaf-peeling drive motor (27) and the transition shaft (26) are both equipped with sprockets (28) and connected by chains, so that the leaf-peeling rollers (23) on both sides and the transverse conveying hinge (30) convey cabbage to both sides simultaneously under the drive of the leaf-peeling drive motor (27); below the leaf-peeling rollers (23) and the transverse conveying hinge (30), there is a waste leaf diversion guide plate (33), so that the peeled cabbage leaves are also sent to both sides under the guidance of the waste leaf diversion guide plate (33), or directly back to the field.

[0016] The vertical conveying mechanism B includes a vertical fixed support (37), a conveying shaft (49), a central shaft (46), and a fixed shaft (34). The vertical fixed support (37) is covered with an outer baffle (38) made of a perforated plate. The conveying shaft (49) is mounted on the upper and lower sides of the vertical fixed support (37) via bearing seats. Symmetrical conveying sprockets (48) are provided on both sides of the conveying shaft (49). The upper and lower conveying sprockets (48) are connected by a chain (50). The chain (50) is a bent plate chain, and a number of... No fewer than 7 sets of evenly distributed bent plate joints (53) and connecting plates (52), the two ends of the gripper shaft (51) are fixedly connected to the connecting plates (52) symmetrically arranged on both sides, so that the chains (50) on both sides move synchronously. Each gripper shaft (51) is provided with a palm-type elastic gripper (44) that can rotate synchronously with the chain (50); the central shaft (46) is set above the vertical fixed bracket (37) through a bearing seat, and the fixed shaft (34) is fixed below the vertical fixed bracket (37). Symmetrical rotating disks (47) are provided on both sides of the central shaft (46). 7) There are three rotating shafts (45) evenly distributed around the central shaft (46). The rotating shafts (45) and the fixed shaft (34) are equipped with elastic grippers (44) and are misaligned with the elastic grippers (44) on the moving gripper shaft (51). The top of the rotating disk (47) is equipped with a limiting guide cover (40). The central shaft (46) and the upper conveying shaft (49) are respectively equipped with a second passive sprocket (39) and a first passive sprocket (41). The second passive sprocket (39) and the first passive sprocket (41) are connected by a chain. The vertical fixed bracket (37) is provided with a limiting plate (35), and the limiting plate (35) is located between the fixed shaft (34) and the central shaft (46). The cabbage from the transverse conveying leaf peeling mechanism C first falls from the feed port 36 into the palm of the hand on the fixed shaft (34), and then is lifted up by the hand on the moving hand shaft (51) and transported to the hand on the rotating shaft (45) of the rotating disk (47). Then, it is fed into the horizontal conveying table (15) by the hand on the rotating disk (47), and finally transferred to the collection box (12).

[0017] The column frame assembly (6) is equipped with control boxes (1) on both sides, and the control box (1) is equipped with a Beidou navigation unmanned agricultural machinery control system, which controls the whole machine to autonomously perform chassis walking, turning, turning around, harvesting, transporting and unloading of cabbage in the field. The rear side of the collection box (12) is also equipped with a working platform (63) that allows people to stand.

[0018] The present invention has the following beneficial effects: First, the cab above the machine is replaced with a large-capacity cabbage collection device, which can collect, gather and unload the harvested cabbage in a timely manner, eliminating the need for manual assistance in bagging at the back of the machine, improving the collection efficiency, and avoiding crushing the unbagged cabbage when the machine turns around to harvest, thus reducing the damage rate of the cabbage. Secondly, the machine features lossless transmission, with full mechanization from cutting and peeling leaves to harvesting and loading / unloading, which improves the efficiency of cabbage harvesting and reduces the damage rate. Third, by replacing traditional diesel engines with new energy sources and electric motors, remote control can be achieved. Furthermore, the mature Beidou navigation unmanned agricultural machinery control system can be integrated to realize unmanned operation of the machines and transform the equipment into smart agriculture. Attached Figure Description

[0019] Figure 1 This is the front view of the present invention; Figure 2 for Figure 1 The right view; Figure 3 for Figure 1 A three-dimensional image; Figure 4 for Figure 1 A schematic diagram of the structure of the material collection and unloading mechanism A, which includes a guide plate 16; Figure 5 for Figure 1 A schematic diagram of the structure of the material collection and unloading mechanism A, which includes a transverse vegetable equalizing hinge 61; Figure 6 for Figure 1 A schematic diagram of the structure of Embodiment 1 of the transverse conveying leaf stripping mechanism C; Figure 7 for Figure 1 A schematic diagram of the structure of the transverse conveyor leaf stripping mechanism, embodiment C, second example; Figure 8 for Figure 1 A schematic diagram of the structure of Embodiment 1 of the vertical conveying mechanism B; Figure 9 for Figure 8 Sectional view of EE; Figure 10 for Figure 1 A schematic diagram of the structure of the vertical conveying mechanism B in Embodiment 2; Figure 11 for Figure 10 Sectional view of DD; Figure 12 for Figure 10 Enlarged view of parts such as chain (50) and gripper shaft (51) at point K; Figure 13This is a structural diagram of the present invention in use.

[0020] In the diagram: 1. Control box; 2. Inclined longitudinal conveyor mechanism; 3. Tracked chassis; 4. Electric push rod one; 5. Cutting table assembly; 6. Column frame assembly; 7. Chassis drive motor; 8. Lithium battery; 9. Inclined drive motor; 10. Push rod hinge plate; 11. Small roller; 12. Collection box; 13. Collection box frame; 14. Enclosure; 15. Horizontal conveyor table; 16. Guide plate; 17. Front side plate of the box; 18. Electric push rod two; 19. Hinge; 20. Pivot hinge block; 21. Horizontal conveyor table drive motor; 22. Leaf stripping shaft; 23. Leaf stripping roller; 24. Mounting frame; 25. Right-angle conversion box; 26. Transition shaft; 27. Leaf stripping drive motor; 28. Sprocket one; 29. ​​Fixed frame; 30. Transverse conveyor hinge; 31. Forward spiral blade; 32. Reverse spiral blade; 33. Support guide plate; 34. 35. Fixed shaft; 36. Limiting plate; 37. Feed inlet; 38. Vertical fixed bracket; 39. Outer baffle; 40. Passive sprocket two; 41. Limiting guide cover one; 42. Passive sprocket one; 43. Vertical conveyor motor; 44. Drive sprocket; 45. Elastic gripper; 46. Rotating shaft; 47. Central shaft; 48. Rotary disk; 49. Conveying sprocket; 50. Conveying shaft; 51. Chain; 52. Gripper shaft; 53. Connecting plate; 54. Bend plate joint; 55. Lower bend rod; 56. Limiting guide cover two; 57. Upper guide rod; 58. Side baffle; 59. Electric push rod three; 60. Cutting table drive motor; 61. Lifting bracket; 62. Horizontal vegetable equalizing hinge; 63. Electric push rod four; 64. Working platform; 65. Slide rail slider; A. Collection and unloading mechanism; B. Vertical conveying mechanism; C. Horizontal conveying leaf peeling mechanism. Detailed Implementation

[0021] The system includes a tracked chassis 3, a cutting table assembly 5, a ramp longitudinal conveyor mechanism 2, and a column frame assembly 6. The column frame assembly 6 is located above the tracked chassis 3, and the ramp longitudinal conveyor mechanism 2 is located at the center of the column frame assembly 6. The drive wheels on both sides of the tracked chassis 3 are fixed to the chassis drive motors 7, and a lithium battery 8 that provides power to the main unit is located between the chassis drive motors 7. The cutting table assembly 5 is supported at the front end of the lifting bracket 60 by bearing seats. The lifting bracket 60 is connected to the linear rail assembly on the front column of the column frame assembly 6, and the lifting bracket 60 moves up and down by electric push rods. At the same time, the two ends of the electric push rod 4 are hinged to the lifting bracket 60 and the cutting table assembly 5, respectively. The lifting bracket 60 is equipped with a cutting table drive motor 59 to drive the cutting table assembly 5. The ramp longitudinal conveyor mechanism 2 is also equipped with a separate ramp drive motor 9 to independently realize the operation of the ramp longitudinal conveyor mechanism 2.

[0022] See Figure 4Above the column frame assembly 6 is a collection and unloading mechanism A for collecting and unloading the peeled cabbage. It includes a collection box 12 and a front side plate 17 connected to its front end by a hinge 19. An electric push rod 18 is provided between the front side plate 17 and the collection box 12. The extension and retraction of the electric push rod 18 drives the opening and closing of the front side plate 17. The bottom of the collection box 12 is provided with a fulcrum hinge block 20 and a push rod hinge plate 10. The fulcrum hinge block 20 is hinged to the front end of the column frame assembly 6 by a pin. The push rod hinge plate 10 is hinged to an electric push rod 58 on the column frame assembly 6. The extension and retraction of the electric push rod 58 drives the collection box 12 to rotate around the fulcrum hinge block 20, thereby unloading the cabbage.

[0023] To prevent cabbage from piling up, the top of the collection box frame 13 is equipped with two symmetrically arranged horizontal conveyor platforms 15. The front and rear ends of the horizontal conveyor platforms 15 are respectively equipped with a barrier 14 and a guide plate 16. The barrier 14 is used to prevent the cabbage from the vertical conveyor mechanism B from falling off the horizontal conveyor platform 15. The horizontal conveyor platform 15 conveys the cabbage towards the guide plate 16, and the guide plate 16 guides the cabbage into the collection box 12. To prevent the cabbage from getting stuck when unloading, the entire lower side of the collection box 12 is composed of evenly distributed small rollers 11. The small rollers 11 can reduce the friction when unloading the cabbage and allow it to slide out of the collection box 12 under its own weight. The collection box 12 is surrounded by a perforated fence that makes it easy to observe the inside. The horizontal conveyor platform 15 is driven by an independent horizontal conveyor platform drive motor 21.

[0024] See Figure 5 To improve the stability of cabbage transport on the horizontal conveyor platform 15 and to ensure uniform stacking of cabbage in the collection box 12, the simple guide plate 16 structure can be eliminated. Instead, a transverse material equalizing hinge 61 can be installed on the collection box 12, spanning the upper sides of the two horizontal conveyor platforms 15. The two shaft ends of the transverse material equalizing hinge 61 can be supported on both sides of the collection box 12 by slide rail sliders 64, and can move back and forth across the collection box 12, so that the cabbage delivered by the vertical conveyor mechanism B can be evenly stacked in the collection box 12. The back and forth movement of the transverse material equalizing hinge 61 is independently driven by electric push rod four 62.

[0025] Behind the longitudinal conveying mechanism 2 of the slope, there is a transverse conveying leaf-peeling mechanism C for peeling and transporting cabbage leaves. The transverse conveying leaf-peeling mechanism C is fixed behind the column frame assembly 6. The transverse conveying leaf-peeling mechanism C has two structural methods.

[0026] Example 1 of the transverse conveying leaf stripping mechanism C, see Figure 6 : The transverse conveying leaf stripping mechanism C includes a single fixed frame 29, a mounting frame 24, a leaf stripping roller 23, and a transverse conveying hinge 30. The fixed frame 29 and the mounting frame 24 are distributed on both sides and connected by plates. The mounting frame 24 has two right-angle conversion boxes 25, which are connected in series by a transition shaft 26. At the same time, a leaf stripping drive motor 27 that provides driving force is provided above the mounting frame 24. Both the leaf stripping drive motor 27 and the transition shaft 26 are equipped with sprockets 28 and connected by chains. The leaf stripping drive motor 27 drives the transition shaft 26 to rotate. At the same time, each of the two right-angle conversion boxes 25 is connected to a leaf stripping rotating shaft 22 that is perpendicular to the transition shaft 26. The other end of the leaf stripping rotating shaft 22 is connected to the fixed frame through a bearing seat. 29 is connected, the leaf-stripping roller 23, the transverse conveying hinge 30 and the leaf-stripping shaft 22 are coaxial and fixed. The transverse conveying hinge 30 is provided with symmetrically arranged forward spiral blades 31 and reverse spiral blades 32. The transition shaft 26 drives the leaf-stripping roller 23 and the transverse conveying hinge 30 to rotate through the right-angle conversion box 25. The cabbage rotates between the leaf-stripping roller 23 and the transverse conveying hinge 30. The forward spiral blades 31 and the reverse spiral blades 32 force the cabbage to move to both sides. The leaf-stripping roller 23 strips the leaves from the cabbage. A waste leaf diversion guide plate 33 is provided below the leaf-stripping roller 23 and the transverse conveying hinge 30 to prevent cabbage with small ball diameter from falling directly from the gap between the leaf-stripping roller 23 and the transverse conveying hinge 30.

[0027] Example 2 of the transverse conveying leaf stripping mechanism C, see Figure 7 : The transverse conveying leaf stripping mechanism C comprises a single mounting frame 24, symmetrically arranged fixed frames 29 on both sides, a leaf stripping roller 23, and a transverse conveying hinge 30. The fixed frames 29 and the mounting frame 24 are connected by plates. The mounting frame 24 contains two right-angle conversion boxes 25, which are connected in series via a transition shaft 26. A leaf stripping drive motor 27, providing driving force, is located above the mounting frame 24. Both the leaf stripping drive motor 27 and the transition shaft 26 are equipped with sprockets 28 and connected by chains. The leaf stripping drive motor 27 drives the transition shaft 26 to rotate. Simultaneously, leaf stripping rotating shafts 22, perpendicular to the transition shaft 26, pass through both sides of the right-angle conversion box 25. The two ends of the leaf stripping rotating shaft 22 are connected to the fixed frames on both sides via bearing seats. The frame 29 is connected, and the two sides of the mounting frame 24 are symmetrically arranged with leaf stripping rollers 23 and transverse conveying hinges 30. The leaf stripping rollers 23 and transverse conveying hinges 30 are coaxial with and fixed to the leaf stripping shaft 22. The transverse conveying hinges 30 on both sides are respectively provided with forward spiral blades 31 and reverse spiral blades 32. The transition shaft 26 drives the leaf stripping shaft 22 to rotate through the right angle conversion box 25, that is, the leaf stripping rollers 23 and transverse conveying hinges 30 on both sides rotate, driving the cabbage to move to both sides. Similarly, in order to prevent the cabbage with a small head diameter from falling directly from the gap between the leaf stripping rollers 23 and transverse conveying hinges 30, a waste leaf diversion guide plate 33 is provided below the leaf stripping rollers 23 and transverse conveying hinges 30.

[0028] Both sides of the transverse conveying leaf-peeling mechanism C are equipped with vertical conveying mechanisms B. The vertical conveying mechanisms B orderly transfer the peeled cabbage from bottom to top to the collection and unloading mechanism A. The vertical conveying mechanism B also has two structures.

[0029] Example 1 of vertical conveying mechanism B, see Figure 8-9 : The vertical conveying mechanism B includes a conveying sprocket 48, a chain 50, an elastic gripper 44, a vertical fixing bracket 37, and an outer baffle 38 made of a perforated plate. The outer baffle 38 covers the outside of the vertical fixing bracket 37 and is fixed to the frame of the whole machine. The outer baffle 38 has a feed port 36 for easy entry of cabbage.

[0030] An upper guide rod 56 is provided on the upper side of the vertical fixed bracket 37 adjacent to the collection box 12, and a lower bent rod 54 is provided on the lower side of the guide rod 56, which is fixed to the vertical fixed bracket 37 as a whole. Side baffles 57 are provided on both sides of the lower bent rod 54. The upper guide rod 56 is about 45 degrees. The conveying shaft 49 is provided on the upper and lower sides of the vertical fixed bracket 37 through bearing seats. Symmetrical conveying sprockets 48 are provided on both sides of the conveying shaft 49. The upper and lower conveying sprockets 48 are connected by chains 50. The chains 50 are provided with no less than 7 sets of evenly distributed bent plate joints 53 and connecting plates 52. The two ends of the gripper shaft 51 are fixedly connected to the symmetrically arranged connecting plates 52 on both sides, so that the chains 50 on both sides move synchronously. Each gripper shaft 51 is provided with an elastic gripper 44. The elastic gripper 44 is fixed on two vertically parallel rotating chains 50 and rotates with the chains 50. The elastic gripper 44 is made of elastic material and is shaped like a human hand, slightly curved in a supporting position. The palm of the curved hand faces the same direction as the running direction of the chain 50.

[0031] The number of upper guide rods 56 and lower bent rods 54 are the same and they are misaligned with the elastic gripper 44; at the same time, in order to allow the cabbage to detach from the vertical fixing bracket 37, a limiting guide cover 55 is provided at the top of the vertical fixing bracket 37.

[0032] A vertical conveying motor 42 providing driving force is provided on one side of the vertical fixed bracket 37, and is connected to the drive sprocket 43 on the lower conveying shaft 49 via a chain and sprocket.

[0033] When the elastic gripper 44 moves to the lower curved rod 54 or the upper guide rod 56, it can pass through in a staggered, interlocking manner. When the transverse conveyor auger 30 drops the peeled cabbage from both shaft ends into the lower curved rod 54, the elastic gripper 44 on the rotary chain can pass over the lower curved rod 54 to effectively lift it up and smoothly transport it to the upper guide rod 56. The upper guide rod 56 then smoothly guides the cabbage into the collection box 12 of the collection and unloading device A. The specific working principle is as follows: The cabbage enters the lower curved rod 54 below the vertical fixed support 37 through the feed port 36. The vertical conveyor motor 42 rotates, driving the lower conveyor shaft 49 and conveyor sprocket 48 to rotate. Then, the upper conveyor shaft 49 is driven to rotate through the chain 50. The elastic gripper 44 on the gripper shaft 51 transports the cabbage on the lower curved rod 54 from bottom to top. When it reaches the top, the cabbage rotates along the direction of the limit guide cover 55. Finally, when it passes the upper guide rod 56, the cabbage falls out of the vertical fixed support 37 along the direction of the upper guide rod 56 and falls into the horizontal conveyor table 15 on the collection and unloading mechanism A.

[0034] In order to transport the cabbage from bottom to top, the elastic gripper 44 is set in an arc shape, and the center of the arc is oriented in the same direction as the running direction of the chain 50. This ensures that the elastic gripper 44 lifts the cabbage and moves together with the chain 50, transporting the cabbage from bottom to top, and finally delivering it to the horizontal conveyor table 15 and into the collection box 12.

[0035] Example 2 of vertical conveyor mechanism B, see Figure 10-12 : The vertical conveying mechanism B includes a vertical fixed support 37, a conveying shaft 49, a central shaft 46, and a fixed shaft 34. The conveying shaft 49 is covered with an outer baffle 38, and the outer baffle 38 has an inlet 36 for easy entry of cabbage.

[0036] The conveying shaft 49 is mounted on the upper and lower sides of the vertical fixed support 37 via bearing seats. Symmetrical conveying sprockets 48 are provided on both sides of the conveying shaft 49. The upper and lower conveying sprockets 48 are connected by chains 50. The chains 50 are provided with no less than 7 sets of evenly distributed bent plate joints 53 and connecting plates 52. The two ends of the gripper shaft 51 are fixedly connected to the symmetrically arranged connecting plates 52 on both sides, so that the chains 50 on both sides move synchronously. Each gripper shaft 51 is provided with an elastic gripper 44. The central shaft 46 is mounted on the upper side of the vertical fixed support 37 via bearing seats. The fixed shaft 34 is fixed on the lower side of the vertical fixed support 37. Symmetrical rotating disks 47 are provided on both sides of the central shaft 46. Three rotating shafts 45 are evenly distributed with the central shaft 46 as the center between the rotating disks 47. Both the rotating shafts 45 and the fixed shaft 34 are provided with elastic grippers 44, which are offset from the elastic grippers 44 on the gripper shaft 51.

[0037] A vertical conveying motor 42 providing driving force is provided on one side of the lower fixed bracket 37, and is connected to the driving sprocket 43 on the lower conveying shaft 49 through a chain and sprocket; a passive sprocket 2 39 and a passive sprocket 1 41 are respectively provided on the same side of the central shaft 46 and the upper conveying shaft 49, and the passive sprocket 2 39 and the passive sprocket 1 41 are connected by a chain. At the same time, a limiting guide cover 40 is provided on the top of the rotating disk 47. In order to prevent the cabbage from falling when it rises, a limiting plate 35 is provided inside the vertical fixed bracket 37, and the limiting plate 35 is located between the fixed shaft 34 and the central shaft 46.

[0038] The characteristic of this embodiment 2 is that the elastic gripper 44 on the chain 50 is the same as that in embodiment 1, both being made of elastic material and shaped like a human hand, with the palm facing the same direction as the chain 50. However, the gripper on the fixed shaft 34 is a fixed gripper, while the gripper on the rotating shaft 45 is a gripper that can only be positioned and rotated but cannot be moved. The cabbage from the transverse conveying leaf-stripping mechanism C first falls from the feed port 36 into the palm of the gripper on the fixed shaft (34), and then is lifted up by the gripper on the moving gripper shaft (51) and transported to the gripper on the rotating shaft (45) on the rotating disk (47). Then, the gripper on the rotating disk (47) passes the cabbage into the horizontal conveyor table (15), and finally transfers it into the collection box (12).

[0039] The specific working principle is as follows: The cabbage from the transverse conveying leaf-peeling mechanism C first enters the elastic gripper 44 on the fixed shaft 34 through the feed inlet 36. The vertical conveying motor 42 rotates, driving the lower conveying shaft 49 and conveying sprocket 48 to rotate. Then, the chain 50 drives the upper conveying shaft 49 to rotate. At the same time, the elastic gripper 44 on the gripper shaft 51 transports the cabbage on the fixed shaft 34 from bottom to top. Since the upper conveying shaft 49 and the central shaft 46 are respectively equipped with a passive sprocket 1 41 and a passive sprocket 2 39, the central shaft 46 rotates under the drive of the chain. The elastic gripper 44 on the rotating shaft 45 rotates around the central shaft 46, pushing the cabbage that has moved to the top and rotating it along the direction of the limiting guide cover 40, so that the cabbage falls out of the vertical fixed bracket 37 and into the horizontal conveyor table 15 on the collection and unloading mechanism A.

[0040] To enhance the overall intelligence of the machine, achieve unmanned operation, and reduce the difficulty of future manual operation, a control box 1 is installed on one side of the column frame assembly 6. The control box 1 is equipped with a Beidou navigation unmanned agricultural machinery control system, which controls the double-row electric cabbage harvester to autonomously perform harvesting, turning, and unloading operations in the field. This enables automatic row-to-row harvesting of cabbage in the field. When the collection box frame 13 in the collection and unloading mechanism A is full, it automatically navigates to the unloading point. Electric push rod 2 18 and electric push rod 3 58 extend simultaneously to unload the cabbage. After unloading, the push rod retracts and resets, then navigates back to the field to continue harvesting cabbage. This cycle repeats.

Claims

1. A double-row electric cabbage harvester, comprising a crawler chassis (3), a header assembly (5), an inclined longitudinal conveying mechanism (2), a transverse conveying and stripping mechanism C, a chassis drive motor (7) and a lithium battery (8), wherein the crawler chassis (3) is provided with a column rack assembly (6), the header assembly (5) is arranged at the front end of the column rack assembly (6), the inclined longitudinal conveying mechanism (2) is arranged at the middle part of the column rack assembly (6), the chassis drive motor (7) and the lithium battery (8) are arranged at the middle and rear end of the column rack assembly, the lithium battery (8) provides power supply for the whole machine, and the transverse conveying and stripping mechanism C is arranged in a T-shaped manner at the rear side of the inclined longitudinal conveying mechanism (2); characterized in that: The transverse conveying leaf stripping mechanism C consists of a transverse conveying hinge (30) and a leaf stripping roller (23). The leaf stripping roller is a soft brush roller. The spiral blades (31, 32) on the transverse conveying hinge (30) are symmetrically arranged in opposite directions. The leaf stripping roller (23) is arranged parallel to the transverse conveying hinge (30). The two sides of the conveying leaf stripping mechanism C are symmetrically provided with vertical conveying mechanisms B. The top of the whole machine is provided with a collection and unloading device A that can be flipped over to unload the whole machine and has a large-capacity collection box (12).

2. A twin-row electric-powered cabbage harvester according to claim 1, characterized in that: The vertical conveying mechanism B includes a conveying sprocket (48), a chain (50), an elastic gripper (44), a vertical fixed bracket (37), and an outer baffle (38) made of a perforated plate. The outer baffle (38) covers the outside of the vertical fixed bracket (37) and is fixed to the frame of the whole machine. The elastic gripper (44) is fixed on two vertically parallel rotating chains (50) and rotates up and down with the chains (50). The elastic gripper (44) is made of elastic material and is shaped like a human hand, slightly bent in a lifting position. The palm of the bent hand faces the same direction as the running direction of the chain (50). The upper side of the vertical fixed bracket (37) adjacent to the collection box (12) is provided with an upper guide rod (56), and the lower side is a lower bent rod (54), which is connected to the vertical fixed bracket. The fixed bracket (37) is fixed as one piece; when the elastic gripper (44) runs to the lower curved rod (54) or the upper guide rod (56), it can pass through with its "ten fingers" crossed and staggered; when the transverse conveying auger (30) drops the peeled cabbage from the two shaft ends into the lower curved rod (54), the elastic gripper (44) on the rotating chain can effectively lift it and smoothly lift and transport it to the upper guide rod (56), and then the upper guide rod (56) smoothly guides the cabbage into the collection box (12) of the collection and unloading device A; a vertical conveying motor (42) providing driving force is provided on the lower side of the vertical fixed bracket (37), and it is connected to the drive sprocket (43) on the lower conveying shaft (49) through the chain sprocket; the outer baffle (38) is provided with a feed port (36) to facilitate the entry of cabbage.

3. A double-row electric cabbage harvester according to claim 2, characterized in that: The vertical conveying mechanism B also includes a conveying shaft (49) and a conveying sprocket (48) arranged symmetrically on the upper and lower sides. The conveying shaft (49) is mounted on the upper and lower sides of the vertical fixed support (37) through bearing seats. The conveying shaft (49) is equipped with a conveying sprocket (48). The two conveying sprockets (48) arranged vertically are connected by a chain (50). The chain (50) is a bent plate chain. The bent plate chain is equipped with no less than 7 sets of evenly distributed bent plate joints (53) and connecting plates (52). The two ends of the gripper shaft (51) are fixedly connected to the connecting plates (52) arranged symmetrically on both sides, so that the two rotating chains (50) move synchronously. The gripper shaft (51) is equipped with an elastic gripper (44). The outer baffle (38) made of hollow plate covers the vertical fixed support (37). 7) On the outside, a side baffle (57) is provided on the lower side of the outer baffle (38). The bottom side of the side baffle is provided with a lower bent rod (54) made of more than 6 round steel bars. That is, the lower bent rod (54), the side baffle (57) and the outer baffle (38) are all welded on the vertical fixed bracket (37) to form a protective enclosure for the rotating chain (50) and the elastic claw (44). The lower bent rods (54) at the bottom of the enclosure are provided with gaps between each other to allow the elastic claw (44) to pass through. The upper guide rod (56) is directly welded to the upper end of the vertical fixed bracket (37). The number of the upper guide rods is the same as the number of the lower bent rods (54). Both of them allow the elastic claw (44) to pass through with their fingers intersecting. The top of the vertical fixed bracket (37) is also provided with a limiting guide cover (55).

4. A double-row electric cabbage harvester according to claim 1, characterized in that: The collection and unloading device A also includes a horizontal conveyor platform (15) symmetrically arranged on both sides of the upper opening of the collection box (12). The conveyor belt on the horizontal conveyor platform (15) is independently driven by the conveyor platform drive motor (21). The box body of the collection box (12) is a hollow plate fence structure. The front side plate (17) of the collection box (12) is an electric unloading door that can be opened or closed. The entire bottom side of the collection box (12) is composed of small rollers (11). The horizontal conveyor platform (15) is provided with a barrier (14) at one end near the upper guide rod (56) of the vertical conveying mechanism B, so as to send the cabbage from the vertical conveying mechanism B into the collection box (12).

5. A double-row electric cabbage harvester according to claim 4, characterized in that: The horizontal conveying platform (15) is provided with a guide plate (16) corresponding to the enclosure (14). The guide plate (16) cooperates with the enclosure (14) to guide the cabbage from the vertical conveying mechanism B into the collection box (12) while preventing the cabbage from falling off the horizontal conveying platform (15).

6. A double-row electric cabbage harvester according to claim 4, characterized in that: The collection box (12) is equipped with a horizontal material equalization hinge (61), which spans the upper side of the horizontal conveyor table (15). The two shaft ends of the horizontal material equalization hinge (61) can be supported on both sides of the collection box (12) by the slide rail slider (64), and can move back and forth across the collection box (12) so that the cabbage sent by the vertical conveyor mechanism B can be smoothly introduced into the collection box (12) and the cabbage can be evenly stacked in the collection box (12). The back and forth movement of the horizontal material equalization hinge (61) is independently driven by the electric push rod four (62).

7. A double-row electric cabbage harvester according to claim 1, characterized in that: The transverse conveying leaf-stripping mechanism C includes a fixed frame (29), a mounting frame (24), a leaf-stripping roller (23), and a transverse conveying hinge (30). The fixed frame (29) and the mounting frame (24) are distributed on both sides and connected by plates. The mounting frame (24) is provided with two right-angle conversion boxes (25). The right-angle conversion boxes (25) are connected in series by a transition shaft (26), and the right-angle conversion boxes (25) are evenly connected with leaf-stripping rotating shafts (22). The other end of the leaf-stripping rotating shaft (22) is connected to the fixed frame (29) through a bearing seat. The leaf-stripping roller (23) and the transverse conveying hinge (30) are connected in series by a transition shaft (26). 30) The rollers are supported on the fixed frame (29) by the leaf stripping shaft (22); the transverse conveying hinge (30) is provided with symmetrically arranged forward spiral blades (31) and reverse spiral blades (32); the upper part of the mounting frame (24) is provided with a leaf stripping drive motor (27) that provides driving force; the leaf stripping drive motor (27) and the transition shaft (26) are both provided with sprockets (28) and connected by chains; the lower part between the leaf stripping roller (23) and the transverse conveying hinge (30) is provided with a waste leaf diversion guide plate (33) that can divert and guide the stripped waste leaves.

8. A double-row electric cabbage harvester according to claim 1, characterized in that: The leaf-stripping roller (23) and the transverse conveying hinge (30) in the transverse conveying leaf-stripping mechanism C are composed of two sets of devices symmetrically arranged on the left and right sides. That is, it includes a mounting frame (24) and two sets of fixed frames (29) symmetrically arranged on both sides, leaf-stripping roller (23) and transverse conveying hinge (30). The fixed frames (29) and the mounting frame (24) are connected by plates. The mounting frame (24) is provided with two right-angle conversion boxes (25) and connected in series by a transition shaft (26). Leaf-stripping rotating shafts (22) pass through both sides of the right-angle conversion boxes (25). The two ends of the leaf-stripping rotating shafts (22) are connected to the fixed frames (29) through bearing seats. The leaf-stripping rollers (23) and the transverse conveying hinge (30) symmetrically arranged on both sides are supported on the fixed frames (29) by the leaf-stripping rotating shafts (22). 29) On one side of the transverse conveying hinge (30), there is a forward spiral blade (31), and on the other side of the transverse conveying hinge (30), there is a reverse spiral blade (32); above the mounting frame (24), there is a leaf-peeling drive motor (27) that provides driving force. The leaf-peeling drive motor (27) and the transition shaft (26) are both equipped with sprockets (28) and connected by chains, so that the leaf-peeling rollers (23) on both sides and the transverse conveying hinge (30) convey cabbage to both sides simultaneously under the drive of the leaf-peeling drive motor (27); below the leaf-peeling rollers (23) and the transverse conveying hinge (30), there is a waste leaf diversion guide plate (33), so that the peeled cabbage leaves are also sent to both sides under the guidance of the waste leaf diversion guide plate (33), or directly back to the field.

9. A double-row electric cabbage harvester according to claim 1, characterized in that: The vertical conveying mechanism B includes a vertical fixed support (37), a conveying shaft (49), a central shaft (46), and a fixed shaft (34). The vertical fixed support (37) is covered with an outer baffle (38) made of a perforated plate. The conveying shaft (49) is mounted on the upper and lower sides of the fixed support (37) via bearing seats. Symmetrical conveying sprockets (48) are provided on both sides of the conveying shaft (49). The upper and lower conveying sprockets (48) are connected by a chain (50). The chain (50) is a bent plate chain, and a considerable number of... The hand gripper shaft (51) is fixedly connected to the two ends of the symmetrically arranged connecting plates (52) on both sides by seven evenly distributed bent plate joints (53) and connecting plates (52), so that the chains (50) on both sides move synchronously. Each hand gripper shaft (51) is equipped with a palm-shaped elastic gripper (44) that can rotate synchronously with the chain (50). The central shaft (46) is set above the vertical fixed bracket (37) through a bearing seat, and the fixed shaft (34) is fixed below the vertical fixed bracket (37). Symmetrical rotating disks (47) are provided on both sides of the central shaft (46). Three rotating shafts (45) are evenly distributed around the central shaft (46). Each rotating shaft (45) and fixed shaft (34) is equipped with an elastic gripper (44), which is offset from the elastic gripper (44) on the moving gripper shaft (51). A limiting guide cover (40) is provided on the top of the rotating disk (47). A passive sprocket (39) and a passive sprocket (41) are respectively provided on the same side of the central shaft (46) and the upper conveying shaft (49), and are connected by a chain. The straight fixed bracket (37) is provided with a limiting plate (35), and the limiting plate (35) is located between the fixed shaft (34) and the central shaft (46). The cabbage from the transverse conveying leaf peeling mechanism C first falls from the feed port (36) into the palm of the hand on the fixed shaft (34), and then is lifted up by the hand on the moving hand shaft (51) and transported to the hand on the rotating shaft (45) of the rotating disk (47). Then, it is fed into the horizontal conveying table (15) by the hand on the rotating disk (47), and finally transferred to the collection box (12).

10. A double-row electric cabbage harvester according to claim 1, characterized in that: The column frame assembly (6) is equipped with control boxes (1) on both sides, and the control box (1) is equipped with a Beidou navigation unmanned agricultural machinery control system, which controls the whole machine to autonomously perform chassis walking, turning, turning around, harvesting, transporting and unloading of cabbage in the field. The rear side of the collection box (12) is also equipped with a working platform (63) that allows people to stand.

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