138results about "Lifters" patented technology

The invention provides a digging and pulling combined type ginger harvester and a working method, relates to the field of ginger harvesters, and aims to solve the problem that ginger blocks are easy to mechanically damage when ginger is harvested at present, a combined mode of digging and clamping and pulling is adopted, a digging shovel loosens soil through a rotary digging action, conditions are created for ginger seedling extraction, and then the ginger seedlings are harvested; meanwhile, through the cooperation of flexible clamping and lifting effects of the clamping conveying channels on ginger seedlings, stable extraction of the whole ginger is achieved, the situation that an excavating component directly collides with ginger blocks to cause damage is avoided, a flexible clamping space is formed through opposite arrangement of the clamping conveying chains, the ginger seedlings can be reliably fixed, the ginger blocks cannot be extruded, and therefore the ginger seedlings can be stably extracted. The floating support which is obliquely installed can adapt to field terrain fluctuation, and the stability of clamping and conveying is kept; the subsequent ginger seedlings are stably transferred through the clamping side throwing channel, falling or collision in the conveying process is avoided, and the damage risk is further reduced.

The utility model provides a flexible clamping carrot harvesting vehicle which comprises a vehicle body capable of moving in the field, a clamping conveying mechanism is arranged on the front portion of a chassis of the vehicle in the moving direction of the vehicle, the clamping conveying mechanism comprises a pair of conveying belts with the conveying path inclining upwards, and belts on the conveying faces of the two conveying belts make contact or are adjacent to each other. A clamping conveying path capable of being used for clamping a carrot leaf area on the ground and applying pulling force is formed, and supporting wheels used for supporting a belt are distributed on the two sides of the clamping conveying path in a staggered mode to form large clamping wheels. The pulling force of the clamping transmission path on the side part of the carrot leaf area is stable; according to the carrot harvester, by integrating advanced mechanical, electronic and automatic technologies, rapid, accurate and mild harvesting operation on carrots can be achieved, so that the overall production efficiency is improved, and loss is reduced.

The invention provides an integrated combine harvester for tuber crops and onions. The integrated combine harvester comprises a compacting and seedling killing device, a digging and pulling device, a ground breaking and seedling picking device and a packaging device, the compacting and seedling killing device is used for completing preparation work before tuber digging and onion pulling operation, not only can compact soil ridges of tuber crops, but also can cut off seedlings of onions; the digging and pulling device 2 is used for digging tuber crops or onions from soil; the soil breaking and seedling picking device 3 is used for removing impurities difficult to separate in harvested mixtures in the conveying process, the packaging device 4 is installed at the tail of the machine body frame 5 and used for collecting separated tuber crops or onions, packaging the tuber crops or onions and then unloading the tuber crops or onions to the field, and shutdown unloading is avoided while skin breaking damage is reduced. High-efficiency and high-performance harvesting of tuber crops and onions is achieved, meanwhile, the labor cost during harvesting is remarkably reduced, and the economic benefits of farmers for planting tuber crops and onions are increased.

The present invention belongs to the field of agricultural automation equipment and discloses a white radish combine harvester, comprising: a frame, on which a walking chassis, a deep loosening device, a tassel gathering device, and a variable-rigidity tassel clamping, pulling, and conveying device are provided; the walking chassis is used to drive the entire machine to move, and the deep loosening device is used for deep loosening operations; the tassel gathering device is installed at the front end of the frame, and comprises a tassel supporter and a leaf gathering claw assembly provided at the rear end of the tassel supporter, the leaf gathering claw assembly comprising a belt leaf gathering claw that circulates along a vertical plane and a driving mechanism that drives the belt leaf gathering claw to move; during operation, the tassel supporter extends horizontally into the bottom of the tassels on both sides of the white radish to be picked and lifts the tassels on both sides of the white radish; at the same time, the belt leaf gathering claw circulates from bottom to top, and the tassel supporter and the leaf gathering claw assembly work together to gather the white radish tassels into bundles and convey them to the variable-rigidity tassel clamping, pulling, and conveying device. The above-mentioned white radish combine harvester has a good tassel gathering effect and is not prone to errors in clamping and pulling.

The present application relates to a kind of radish automatic harvesting device, more particularly to radish pulling equipment technical field, including harvesting car and first support frame, harvesting car rotationally connected with the first support frame being symmetrical along the longitudinal direction of harvesting car, first support frame inside is equipped with pulling component, harvesting car rotationally connected with the electric push rod being symmetrical along the longitudinal direction of harvesting car, the telescopic rod of electric push rod and first support frame rotationally connect, harvesting car is equipped with the taking component along the longitudinal direction of harvesting car in first support frame side away from, harvesting car is equipped with cutting component in the side close to taking component, harvesting car is equipped with storage component in the side close to taking component.The present application can be according to different regions, different planting mode and radish variety, by electric push rod to adjust the height of pulling component pulling radish, so as to facilitate the radish to be pulled out.

To provide a root crop harvester that can improve a working environment by restraining dust generated in association with work for harvesting crops, and restrain contamination of a machine body and harvests caused by the generation of the dust.SOLUTION: A harvesting device 3 is constituted so as to comprise: a raising part 31 for raising foliage parts of crops; and a pulling conveyance part 32 for clamping the foliage parts raised by the raising part 31, pulling them out of a field, and conveying them to a rear part of a machine body. A root crop harvester comprises an air blowing mechanism constituted so as to comprise a plurality of fan devices for blowing air. The air blowing mechanism is constituted so that air is blown downward and obliquely rearward at a position in a front part of the harvesting device 3 by a first fan device arranged in the raising part 31, and a second fan device arranged in the pulling conveyance part 32.SELECTED DRAWING: Figure 1

The present invention relates to an automatic control device and method for digging depth, belonging to the field of information technology applied to agricultural machinery. The device includes a harvesting platform frame, an L-shaped forward-extending digging shovel, and a clamping conveyor chain. The harvesting platform frame is hingedly mounted with a depth-limiting wheel rocker arm at the rear end, and a depth-limiting wheel is mounted at the front end of the depth-limiting wheel rocker arm. The middle portion of the depth-limiting wheel rocker arm is hingedly connected to one end of a power push rod, and the other end of the power push rod is hingedly connected to the front lower end of the harvesting platform frame. The harvesting platform frame is equipped with an industrial camera facing the front garlic bulb area, and a displacement sensor is installed on one side of the power push rod. The signal output ends of the industrial camera and the displacement sensor are respectively connected to corresponding signal ports of a main control unit via a host computer and an analog / digital conversion module. The control output end of the main control unit is connected to the controlled end of the power push rod via a drive circuit. The present invention can intelligently, accurately, and automatically adjust the digging depth to an appropriate value, significantly improving the quality and efficiency of garlic harvesting, reducing energy waste, and lowering harvesting costs.

To solve such a problem that a work vehicle such as a carrot harvesting vehicle having a crane device is known, the crane device includes a suspension crane arm which is driven so as to protrude to suspend a carrot storage container, however the sufficient usability of the crane device is not necessarily realized in the work vehicle such as the conventional carrot harvesting vehicle.SOLUTION: A carrot harvesting vehicle comprises: a crane device 700 which has a suspension crane arm 710 which is driven so as to protrude to suspend a carrot storage container 650; a vehicle body inclination sensor 810 which detects vehicle body inclination; and a control device 900 which performs control of protrusion drive prohibition of the suspension crane arm 710 when it is detected that the vehicle body inclination exceeds a prescribed level.SELECTED DRAWING: Figure 1

The utility model discloses a ginseng harvesting all-in-one machine, and belongs to the technical field of ginseng harvesting equipment, in the process that a digging assembly is used for digging and harvesting one ridge of ginseng, a cutting mechanism cuts leaves of the other adjacent ridge of ginseng, the cut leaves are toggled to the position between the two ridges of ginseng by a toggling mechanism, and then the ginseng is harvested. According to the ginseng leaf recycling device, the blades are prevented from falling above the soil of the ridges of ginseng, then when the digging assembly digs the ridges of ginseng, the dug soil is prevented from being mixed with the ginseng leaves, and the ginseng leaves between every two ridges of ginseng can be recycled conveniently.

Beet harvesting share with a base part (10) having a cutting edge (S), wherein a hard material coating is arranged in the area of ​​the cutting edge (S), which has one or more deflecting surfaces (23) on its upper side, wherein the derivation surface(s) (23) are transitioned into a surface area of ​​the base part (10), and wherein this area forms a beet guidance zone, in particular a beet pressing zone (12), characterized by that the hard material coating has hard material elements which are designed as cutting elements (20) and which form the cutting edge (S) at least in some areas.

The utility model relates to the technical field of agricultural equipment, and discloses a root vegetable crop pulling-out and cleaning mechanism which comprises a base plate, a conveying assembly arranged on the base plate, a guiding pulling-out frame set arranged at the input end of the conveying assembly and a stem and leaf cutting assembly arranged below the output end of the conveying assembly. The conveying assembly is obliquely arranged on the base plate, the conveying assembly is provided with a soil cleaning assembly on the front side of the stem and leaf cutting assembly, a transmission box is arranged above the conveying assembly, and the guiding pulling-out frame sets are arranged on the two sides of the bottom end of the conveying assembly; the conveying assembly and the stem and leaf cutting assembly are connected to the output end of the transmission box, and a feeding opening is formed in the end of the guiding pulling-out frame set in a splayed closing-up mode.

The application discloses a carrot pulling device, system and method based on lever mechanism torque self-adaption, and belongs to the technical field of vegetable harvesting machinery and artificial intelligence, which comprises a moving device, a collecting device installed above the moving device, a pulling device installed at the front end of the moving device, and a conveying device for connecting the pulling device and the collecting device; an environment sensing device and a controller are further installed on the moving device, the input end of the controller is connected with the environment sensing device, and the output end is connected with the moving device and the pulling device. The environment sensing device and the controller are fully utilized for information fusion, the data processing capacity of the device is strengthened, the environment sensing capacity is improved, manual participation is not needed, the pulling device realizes real-time monitoring and adjustment of torque output through self-adaptive torque, the needs in different situations are met, the carrots are prevented from being damaged, the quality is ensured, process parameters are collected and analyzed, torque output is automatically adjusted, and accurate positioning and accurate pulling of the carrots are realized.

To solve a problem with a conventional work vehicle that workability in selection work for crops passing through a crop conveying device is not necessarily satisfactory sufficiently.SOLUTION: A work vehicle is a digger picker work machine, and includes: a crop harvesting device 200 for harvesting crops, which is arranged in the space between right and left front wheels 110, and right and left rear wheels 120; a crop conveying device 300 for conveying the crops harvested by the crop harvesting device 200 backward through the space between the right and left rear wheels 120; and a crop storage body 400 for storing the crops conveyed by the crop conveying device 300. The crop conveying device 300 includes a crop scooping conveyer 310 for scooping crops upward. and is provided with a robot arm 510 for performing crop selection work for selecting the crops before the crops scooped by the crop scooping conveyer 310 are stored in the crop storage body 400.SELECTED DRAWING: Figure 1

There is a root vegetable harvester in which a Seo Yi-ra for loosening soil around root vegetables such as Japanese radish is provided, and the root vegetables are pulled out from a field while holding the stems and leaves of the root vegetables. To solve the problem that a conventional Seo Yi-ra loosens soil on the side of a root vegetable, does not cut unnecessary roots at the lower end of the root vegetable, causes the roots to bite into a field when pulling out the root vegetable, has large pull-out resistance and inhibits good pull-out operation. To provide a vegetable harvester capable of carrying out good pulling out operation by providing a Seo Yi-ra with functions for cutting roots at the lower ends of root vegetables.SOLUTION: In a vegetable harvester provided with a Seo Yi-ra (21) for loosening soil around a crop (D) such as a radish growing in a field, and a pulling and conveying device (7) for pulling the crop (D) out of the field while holding foliage parts of the crop (D), the Seo Yi-ra (21) is provided with a root-cutting part 21b for cutting roots (R) extending downward from a lower end of the crop (D), and the Seo Yi-ra (21) is configured to be switchable between a working state of being plunged into the field to loosen soil and a housed state of being housed near a machine body above the field.SELECTED DRAWING: Figure 1

The invention belongs to the technical field of mechanical harvesting of garlic, and particularly provides a soil and film removing device for garlic and a harvester, and is characterized in that the soil and film removing device for garlic comprises a clamping rod conveying assembly (1) used for clamping stems of garlic and conveying the garlic; the cleaning assembly is arranged below the clamping rod conveying assembly and used for cleaning the heads of the garlic in the conveying process. According to the soil and film removing device for the garlic, in the garlic conveying process of the clamping rod conveying assembly (1), the heads of the garlic pass through the cleaning assembly, soil, residual films and the like attached to the heads of the garlic are cleaned, the situation that the soil or the residual films are wound or stacked on a rotating component of a harvester is avoided, and meanwhile impurities do not need to be manually removed.

The invention provides a vegetable harvester which can improve the efficiency of continuous harvesting operation and reduce harvesting loss without damaging vegetables or dragging the vegetables due to a structure for crushing soil when the vegetables are pulled out of the soil. The vegetable harvester is used for harvesting vegetables from soil and comprises a traveling machine body; a pulling and conveying device which is provided on the traveling machine body and pulls and conveys the vegetables from the soil; a soil crushing unit (500) that crushes soil in the vicinity of the vegetables to be pulled by the pulling and conveying device; the soil crushing part (500) is provided with a soil crushing blade (55) extending in the left-right direction of the machine body, and the soil crushing supporting part (501) supports the soil crushing part (500) at the position below the drawing and conveying device, the soil crushing part (500) is provided with the soil crushing blade (55) extending in the left-right direction of the machine body, and the soil crushing supporting part (501) is arranged in the range where the soil crushing blade (55) extends in the left-right direction of the machine body.

A self-propelled one-ridge double-row white radish combine harvester comprises a walking chassis; the clamping device is mounted on the walking chassis; the tassel supporting device is arranged in front of the clamping device and used for gathering and supporting tassel leaves of white radishes to be harvested and feeding the tassel leaves into the clamping device along with forward movement of the walking chassis; the aligning and tassel cutting device is arranged behind the clamping device, the clamping device clamps tassel leaves of the white radishes to be harvested and conveys the tassel leaves to the aligning and tassel cutting device, and the aligning and tassel cutting device cuts off and separates the tassel leaves from the white radishes; the transverse conveying device is located below the aligning and tassel cutting device, and the separated white radishes fall to the transverse conveying device; and the lateral conveying device is arranged on one side of the walking chassis corresponding to the transverse conveying device and is used for lifting and conveying the white radishes separated from the leaves to an accompanying transport vehicle. The white radish harvesting efficiency can be greatly improved, and the fruit breakage rate is reduced.

The soil turning and harvesting device comprises a frame, a connecting rod is arranged at the front end of the frame, wheels are arranged on the left side and the right side of the bottom end of the frame, a harvesting plate is arranged below the frame, soil collecting plates are arranged at the left end and the right end of the harvesting plate, an adjusting assembly is arranged at the upper end of the harvesting plate, a motor is arranged at the upper end of the frame, and the bottom end of the motor is connected with a transmission shaft. A collecting box is arranged on the rear side of the harvesting plate, fixing rods are arranged on the left side and the right side of the upper end of the collecting box, the upper ends of the fixing rods are fixedly connected with the frame, and a plurality of evenly-distributed through holes are formed in the surface of the bottom end in the collecting box; according to the angelica sinensis soil turning and harvesting device, the height of the harvesting plate can be adjusted, stems and leaves can be removed, and angelica sinensis can be collected.

The utility model relates to the technical field of automatic machinery, and provides an intelligent small-sized shallot crop automatic harvester which comprises a harvester body, a soil digging mechanism is arranged at the position, close to the front end, of the harvester body, and a pulling mechanism is further arranged at the position, close to the soil digging mechanism, of the front end of the harvester body. A conveying mechanism is arranged in the middle of the top end of the harvester body, a collecting mechanism is further arranged at the rear end of the harvester body, and wheels are installed at the bottom end of the harvester body. Due to the application of the equipment, the collection work which is originally completed by a large amount of manpower can be completed by only a small number of operators now, the economic burden of farmers is effectively relieved, and the planting income is improved; by means of the unique collecting structure and the soft operation mode, damage such as breaking and scratching of the green Chinese onions in the collecting process is effectively avoided, the quality of the green Chinese onions is improved, storage and selling of the green Chinese onions are facilitated, and higher economic return is brought to farmers.

The application provides a multi-row self-propelled beet harvesting device with soil lifting and impurity screening, which comprises a top removing cutting device, a soil lifting and conveying device, a soil screening and impurity removing device, a conveying device, a chassis walking device and a storage box. The top removing cutting device lifts beets from the soil and cuts the top leaves of the beets, separates the cut top leaves from the edible part of the beets, and drops the edible part of the beets back to the soil. The soil lifting and conveying device lifts the edible part of the beets dropped back to the soil and conveys them to the rear soil screening device. The soil screening and impurity removing device screens and cleans the edible part of the beets conveyed by the soil lifting and conveying device. The conveying device lifts the cleaned beets from the soil screening and impurity removing device and conveys them to the storage box. The application realizes the functions of beet lifting, leaf removing, impurity removing, conveying and harvesting, integrates multiple processes, reduces subsequent processing, realizes efficient top leaf removing and impurity cleaning during the beet harvesting process, and improves the efficiency and quality of the harvesting.

The harvesting device for harvesting root crops located in the ground comprises: a support frame (14), a pair of digging shares (16) attached to the support frame, which are designed to lift root crops (6) from the ground. The pair of digging shares (16) defines a median plane (MM) and is movably mounted on the support frame in a transverse direction (QR). The harvesting device includes a guide device (30) designed to detect the position of a root crop (6) located in the ground and to be harvested, and to guide the pair of digging shares (16) in the transverse direction (QR) with respect to the root crop to be harvested towards a centered position.

The present application relates to pickled mustard tuber harvesting technology field, specifically to a kind of pickled mustard tuber harvesting device and method based on intelligent agriculture, including mobile car, intelligent agricultural monitoring unit and harvesting assembly, harvesting assembly includes multiple turnover clamping units, multiple loosening cone, multiple swing adjusting units, multiple harvesting channels and multiple cutting units, loosening cone is stirred inside soil, or by swing to adjust loosening angle;Loosen soil, turnover clamping unit drives pickled mustard tuber to move up and down, repeatedly try, gradually increase moving distance, so that pickled mustard tuber is separated from soil;Loosening is completed, and turnover clamping unit turns pickled mustard tuber to above harvesting channel, releases clamping to make it fall in harvesting channel inside;Cutting unit is started, and the cutting removal of root and leaf of pickled mustard tuber in harvesting channel is carried out, and pickled mustard tuber production is obtained green head;Thus by loosening soil, so that pickled mustard tuber can easily separate from soil.

The invention belongs to the technical field of agricultural machinery, and particularly relates to a double-ridge four-row carrot harvester which comprises a machine frame, a power device is arranged in the machine frame, a walking device is arranged below the machine frame, inclined clamping conveying devices are arranged on the two sides of the machine frame, and each inclined clamping conveying device comprises a conveying support. Two clamping and conveying monomer groups are arranged on the conveying support, each clamping and conveying monomer group comprises a clamping driving wheel, a clamping driven wheel, a clamping conveying belt and a plurality of tensioning wheel assemblies, feeding devices are arranged at the front ends of the two inclined clamping and conveying devices, and tassel supporting devices are arranged above the sides of the two feeding devices; the carrot tassel collecting device is reasonable in structure, and the problems that during harvesting, the carrot tassel collecting effect is poor, the carrot tassel is prone to lodging, and it is difficult to guide and feed two rows of carrots to an oblique clamping and conveying device together for conveying can be solved.

The invention discloses a garlic positioning and conveying system, and belongs to the technical field of mechanical harvesting of garlic, and the system comprises a garlic conveying device which is used for clamping and moving garlic stems of garlic; the garlic head aligning device is arranged at the input end of the garlic conveying device and used for moving garlic heads of the garlic so that the top surfaces of the garlic heads can be located on the same plane; the lifting and root clamping device is arranged at the output end of the garlic conveying device and used for clamping and moving garlic roots of the garlic; and the garlic bulb pressing device is arranged between the garlic conveying device and the lifting and root clamping device and used for moving the garlic bulbs so that the bottom surfaces of the garlic bulbs can be located on the same plane. According to the system, in the garlic moving process of the garlic conveying device, the positions of the top faces of garlic bulbs are adjusted through the garlic bulb aligning device, the positions of the bottom faces of the garlic bulbs are adjusted through the garlic bulb pressing device, and garlic roots are clamped through the lifting and root clamping device in sequence, so that precise positioning and conveying of the garlic can be achieved, and the loss rate in the garlic harvesting process is remarkably reduced.

The invention relates to the technical field of agricultural machinery, and discloses a carrot double-row staggered harvesting method based on intelligent control. According to the method, the parallel layout design that the space is staggered front, back, up, down, left and right is innovatively adopted, two adjacent rows of harvesting units are arranged in parallel in a staggered mode, independent single-row operation is achieved, and the collision problem of traditional double-row synchronous harvesting is effectively avoided. Through an integrated learning control system, feature selection / relation modeling of multi-sensor data is realized by fusing a Stacking framework with a TabNet model attention mechanism, robustness prediction precision is provided based on a gradient boosting decision tree in combination with an XGBoost model, and finally an optimal control decision is realized through a logic regression meta-learner. The links of advancing, clamping, cutting, conveying and the like in the real-time carrot double-row harvesting process work cooperatively. The narrow-distance carrot harvester is suitable for narrow-distance carrot planting agriculture, meets the requirement for automatic harvesting in a one-ridge two-row / four-row high-density planting mode, and is high in operation efficiency.

To prevent crops from falling forward from a digging machine.SOLUTION: A digging machine 4 including a machine frame 17 liftably / lowerably connected to a traveling vehicle 2 by a lifting link mechanism 3, and a digger 20 provided in front of the machine frame 17, includes a fall prevention device 110 with a fall prevention member 111 when the digging machine 4 moves forward together with the traveling vehicle 2 and the digging machine 4 is lifted from a working posture of digging crops with the digger 20, prevents the crops 16 located in the digger 20 and remaining in the digging machine 4 from falling forward from the digger 20.SELECTED DRAWING: Figure 3

This utility model relates to the field of medicinal herb harvesting technology, and discloses a device for harvesting medicinal herbs under Gleditsia sinensis forests, including: a handle, on which a control button is fixedly installed; a herb clamping mechanism, which is disposed on the handle and used to clamp the medicinal herbs; and a supporting harvesting mechanism, which is disposed on the herb clamping mechanism and used to provide a fulcrum for pulling out the medicinal herbs; the herb clamping mechanism includes a reference side plate. This utility model, through the integrated design of the herb clamping mechanism and the supporting harvesting mechanism, allows the herb to be clamped at its tip above ground by the herb clamping mechanism, and then the structure is flipped around the cylindrical fulcrum. Using the lever principle, the herb can be directly pulled out from the soil, causing less damage to the root system, saving effort, and being more convenient to use. Furthermore, it eliminates the need for digging in the soil, reducing the labor intensity of workers.

A first hydraulic rod is arranged between the front end of a body rack and the lower end face of a front-end rack, the first hydraulic rod is hinged to the body rack, and a piston rod of the first hydraulic rod is hinged to the lower end face of the front-end rack; a shovel plate is arranged below the front end of the front-end rack, a seedling beating assembly is arranged above the shovel plate, a second hydraulic rod is arranged above the front end of the front-end rack, and a piston rod of the second hydraulic rod is connected with the seedling beating assembly; side plates are arranged on the left side face and the right side face of the front-end rack, a first conveying assembly is arranged between the side plates, a second conveying assembly is arranged at the upper end of the first conveying assembly and connected with the front-end rack, a third conveying assembly is arranged on the upper end face of the front-end rack, a soil screening assembly is arranged on the upper end face of the body rack, and a fourth conveying assembly is arranged at the rear end of the body rack. The ligusticum wallichii harvester has the advantages that mechanization and automation of ligusticum wallichii harvesting are achieved, multifunctional combined operation is achieved, and the harvesting efficiency of ligusticum wallichii is greatly improved.

The invention discloses a self-propelled multifunctional angelica dahurica harvester, and belongs to the field of agricultural mechanical equipment. Comprising a crawler-type chassis, a power transmission device, a hydraulic system, a frame, a radix angelicae collecting device, a stem and leaf collecting box, a stem and leaf clamping and conveying device, a stem and leaf cutting device, a soil removing device and a vibration subsoiler. The angelica dahurica collecting device and the stem and leaf collecting box are hinged and fixed to the frame, the stem and leaf clamping and conveying device is fixed to the left side of the advancing direction of the angelica dahurica harvester, a vibration subsoiler, a depth wheel and a stem and leaf gathering device are fixed to the front end of the stem and leaf clamping and conveying device, a soil removing device is arranged in the middle of the stem and leaf clamping and conveying device, and a stem and leaf cutting device is arranged at the tail end. Power transmission and hydraulic pressure of the whole machine are controlled through a console, and position control over the clamping and conveying device, motion control over all components and control over a walking system are achieved. The integrated operation of radix angelicae pulling, soil removing, stem cutting and collecting is achieved; particularly, due to the design of the vibration subsoiling shovels, loosening of various kinds of angelica dahurica planting soil can be met by changing the vibration frequency, resistance during angelica dahurica pulling is reduced, the integrity rate of angelica dahurica pulling is increased, labor intensity and harvesting cost are remarkably reduced, and mechanized and efficient angelica dahurica harvesting is achieved.