A potato seedling cutting, harvesting and collecting integrated machine

Abstract

The present invention provides a potato seedling cutting, harvesting and collecting integrated machine, which is used to solve the problems of incomplete potato-soil separation, easy potato damage and leakage, and separation of seedling cutting and harvesting in the prior art. The machine comprises: a walking collection device, a seedling cutting device, a digging device and a conveying and separating device. The walking collection device comprises a frame, a lifting and collecting mechanism arranged at the rear end of the mechanism; the seedling cutting device is arranged in front of the walking collection device; the digging device is located below the seedling cutting device; the conveying and separating device comprises two first support arms symmetrically installed on the frame and inclined at an angle to the ground, two second support arms symmetrically installed on the frame and arranged horizontally, a rotating conveying module for conveying a potato-soil mixture, and an ultrasonic potato-soil separation mechanism, wherein one end of the first support arm is fixedly connected to one end of the second support arm. The machine can not only complete the potato-soil cutting, harvesting and collecting in one body, thereby improving the harvesting efficiency, but also realize the thorough separation of potato and soil and solve the problems of potato damage and leakage.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a potato seedling cutting, harvesting and collecting integrated machine. Background Art

[0002] Potatoes are one of the important economic crops in my country. Since potatoes grow under the soil and have tubers, they are usually harvested manually. However, the manual harvesting method is inefficient and it is difficult to improve the harvesting efficiency.

[0003] With the development of science and technology, a variety of potato harvesting devices have appeared on the market in recent years. Compared with manual harvesting, the use of potato harvesting devices to harvest potatoes has reduced the labor intensity of potato farmers to a certain extent and improved the efficiency of potato harvesting. However, the current potato harvesting devices still have some shortcomings:

[0004] 1. During the potato harvesting process, the potato harvesting device still piles the potatoes on the ground after shoveling up the soil and potatoes, and still needs to be picked up manually. The mechanical degree is low and manual picking is easy to miss;

[0005] 2. During the potato harvesting process, when the potato harvesting device scoops up the soil and potatoes and conveys the potatoes, a lot of soil will still adhere to the surface of the potatoes. One reason is that when the potatoes are conveyed, the potatoes remain stationary relative to the part of the conveyor belt they are in contact with, making it difficult to clean the soil adhering to the surface of the potatoes, and thus making the soil content in the collected potatoes high, which is not conducive to the desludging of the potatoes. Another reason is that the soil separation is not thorough, and the separation efficiency is low under heavy soil, which increases the workload and cost;

[0006] 3. During the potato harvesting process, the seedlings are removed before the potato mechanical harvesting. The seedling removal and harvesting are done separately, which requires two operations, increasing the operation time and cost and reducing the overall harvesting efficiency.

[0007] 4. During the potato harvesting process, for different potato varieties or different planting methods, the digging depth is too shallow, and the deeply buried potatoes cannot be completely dug out, which may cause potatoes to be missed or damaged, resulting in yield losses; if the digging depth is too deep, it is easy to cause excessive digging and collision of potatoes, resulting in damage and scratches on the potato body, affecting the quality. Summary of the invention

[0008] In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a potato vine cutting, harvesting and collecting machine to solve the problems of incomplete separation of potato harvesting and soil, easy potato damage and leakage, and separate vine cutting and harvesting in the prior art.

[0009] In order to achieve the above-mentioned and other related purposes, the present invention provides a potato seedling cutting, harvesting and collecting integrated machine, comprising:

[0010] A walking collection device, the walking collection device comprising a frame and a lifting collection mechanism arranged at the rear end of the mechanism;

[0011] A seedling cutting device, the seedling cutting device is installed in front of the walking collecting device;

[0012] A digging device, the digging device is located below the seedling cutting device and is used for digging potatoes;

[0013] A conveying and separating device, the conveying and separating device comprising two first support arms symmetrically mounted on the frame and tilted at an angle to the ground, two second support arms symmetrically mounted on the frame and horizontally arranged, a rotating conveying module for conveying a potato-soil mixture, and an ultrasonic potato-soil separation mechanism, wherein one end of the first support arm is fixedly connected to one end of the second support arm;

[0014] The ultrasonic potato-soil separation mechanism comprises a mobile identification module installed on the frame, a fixed seat fixedly connected to one end of the mobile identification module, an ultrasonic transducer fixedly installed on the fixed seat, a die head fixedly connected to the ultrasonic transducer, a hemispherical clamp, a cooling module for cooling the hemispherical clamp, a grabbing power module for controlling the opening and closing of the hemispherical clamp, and a first telescopic component for controlling the vertical movement of the grabbing power module; an arc groove is provided at one end of the die head and the hemispherical clamp, the hemispherical clamp is located between the die head and the cooling module, a soil leakage hole is provided at one end of the hemispherical clamp, the soil leakage hole and the central axis of the hemispherical clamp are collinear, the hemispherical clamp is composed of a plurality of the fan-shaped clamps, and each of the hemispherical clamps is provided with a first turbine at the other end;

[0015] The mobile identification module is used to identify the potato body-soil attachment boundary and the damaged part boundary and move the hemispherical gripper to grasp.

[0016] Optionally, the grabbing power module includes a rotating cylinder, a first worm and a grabbing power member driving the first worm to rotate, one end of the rotating cylinder is fixedly connected to the telescopic end of the first telescopic assembly, the rotating cylinder and the first worm are coaxially arranged, the other end of the rotating cylinder is rotationally connected to each of the first turbines through a plurality of lugs, the first worm is meshed with the first turbine on each of the fan-shaped clamping jaws for transmission, the central axes of the first worm and the fan-shaped clamping jaws are colinear, and an identifier is provided at one end of the first worm facing the hemispherical clamping jaw;

[0017] The cooling module includes a semiconductor refrigeration sheet and a heat sink. The semiconductor refrigeration sheet is mounted on the fixing seat and arranged opposite to the die head. The cold end of the semiconductor refrigeration sheet is an arc-shaped structure and contacts and cooperates with the hemispherical clamp. The heat sink is fixedly connected to the hot end of the semiconductor.

[0018] Optionally, the mobile identification module includes a top plate arranged on the top of the second supporting arm, a first screw rod rotatably arranged at the bottom of the top plate, a second screw rod, a slide rail symmetrically arranged with the first screw rod and fixedly installed at the bottom of the top plate, a first slider, a second slider, a third slider, an identification component, a first drive component driving the first screw rod to rotate, and a second drive component driving the second screw rod to rotate, the rotation axis of the first screw rod is parallel to the potato conveying direction, the first slider is provided with an internal thread matching with the first screw rod thread, the second slider is slidably matched with the slide rail, the two ends of the second screw rod are rotatably mounted on the first slider and the second slider respectively, the third slider is provided with an internal thread matching with the second screw rod thread, and the third slider is fixedly connected to the fixing seat;

[0019] The identification component is used to take potato pictures in real time and identify the potato body-soil attachment boundary and the damaged part boundary.

[0020] Optionally, a chain groove is provided from the other end of the first supporting arm along its length direction to the other end of the second supporting arm;

[0021] The rotating conveying module includes multiple rotating rods, several rotating sprockets, two chains, and a rotating rod power assembly for driving one of the rotating rods to rotate. The multiple rotating rods are arranged at a first spacing along the length direction of the first support arm and the second support arm. The multiple rotating rods are rotatably installed on the first support arm and the second support arm. Each of the two ends of the rotating rod is coaxially fixed with a rotating sprocket, and the several rotating sprockets are located in the chain groove. The two chains respectively transmit and connect the rotating sprockets at the two ends of each rotating rod.

[0022] Optionally, the conveying and separating device further comprises a beating and separating mechanism, and the beating and separating mechanism moves up and down to beat the potatoes with soil;

[0023] A limiting groove is provided on the side surface of the first supporting arm;

[0024] The flapping separation mechanism includes two fixed arms symmetrically arranged and located in the chain slot, a plurality of flapping rods, two rollers, two drums, and a first elastic member for resetting the fixed arm to the bottom of the chain slot, one end of the fixed arm is hinged to one end of the first support arm, a plurality of flapping rods are arranged at a second interval along the length direction of the fixed arm, both ends of a plurality of flapping rods pass through the limiting groove and are fixedly connected to the fixed arm, each flapping rod and the adjacent rotating rod form a V-shaped structure, two rollers are rotatably mounted on the other end of the fixed arm, a circular roller groove is provided on the drum for rolling cooperation with the roller, a through hole is provided on the circular roller groove on the drum at a position deviating from the center of the circle, and the two rollers are coaxially fixedly cooperated with a rotating rod close to the other end of the first support arm through the through hole respectively.

[0025] Optionally, the potato vine cutting device includes a U-shaped shell, a dynamic cutting mechanism, and a shredding and conveying mechanism installed on the frame. A fixed cutting knife is provided at the opening of the U-shaped shell. The dynamic cutting mechanism reciprocates back and forth and cooperates with the fixed cutting knife to cut the potato vines. The shredding and conveying mechanism shreds the potato vines and conveys them out of the U-shaped shell.

[0026] Optionally, the movable cutting mechanism comprises a movable cutting knife, a second worm, a second turbine meshing with the second worm, a rotating column coaxially rotating with the second worm, a cutting power member driving the second worm to rotate, and a second elastic member resetting the movable cutting knife backwards; a sliding groove for sliding the movable cutting knife is provided on the side of the U-shaped housing; a spiral groove and a linear return groove are provided on the rotating column; the linear return groove is connected to the head and tail ends of the spiral groove; a sliding column is provided on one side surface of the movable cutting knife, and the sliding column slides in the spiral groove and the linear sliding groove;

[0027] The shredding and conveying mechanism includes a shredding shaft rotatably mounted on the U-shaped housing, a shredding knife group fixedly arranged on the shredding shaft, a conveying rod rotatably arranged at the rear end of the shredding shaft, and a third turbine coaxially fixedly matched with the shredding shaft, the conveying rod is coaxially fixedly matched with the second turbine, the shredding knife group includes at least two blades fixed in the circumferential direction of the shredding shaft, the shredding knife group is at least four groups in the axial direction of the shredding shaft, the conveying rod is provided with a spiral sheet along its own axial direction, and the third turbine is meshed with the second worm for transmission.

[0028] Optionally, the excavation device includes a plurality of excavating shovels, a conveying plate, two side plates, a soil crushing rod, a soil crushing driving mechanism for driving the soil crushing rod to rotate, an angle shaft, an angle driving mechanism, and a depth adjustment mechanism. The two side plates are fixedly connected to the left and right ends of the conveying plate, and a plurality of soil leakage grooves are provided on the conveying plate. The angle shaft is rotatably mounted on the two side plates and is located below the conveying plate. The plurality of excavating shovels are arranged at a third interval along the axial direction of the angle shaft. The soil crushing rod is rotatably mounted on the two side plates and is located above the conveying plate, and the soil crushing rod is provided with spiral sheets along its own axis.

[0029] The angle driving mechanism is used to drive the angle rotating shaft to rotate and adjust the soil entry angle of the digging shovel;

[0030] The depth adjustment mechanism adjusts the digging depth of the digging shovel;

[0031] The angle driving mechanism includes a first gear rotatably arranged on the side plate, an arc-shaped rack, and an angle power member driving the first gear to rotate. The arc-shaped rack is coaxially fixedly matched with one end of the angle rotating shaft, and the first gear is meshed with the arc-shaped rack for transmission.

[0032] Optionally, the front and rear ends of the left and right sides of the conveying plate are provided with hinge rods;

[0033] The depth adjustment mechanism comprises a second telescopic assembly, a first support, and two groups of up-and-down motion mechanisms, the two ends of the second telescopic assembly are respectively hinged on the frame and between the two ends of the first support, the two groups of up-and-down motion mechanisms are located on both sides of the conveying plate, each group of the up-and-down motion mechanisms comprises a first arm, a second arm, a third arm, and an L-shaped support seat installed on the frame, the first end of the first arm is hinged to the hinge rod at the front end of one side of the conveying plate, the second end of the first arm, the first end of the first support and the first end of the second arm are hinged, the second end of the second arm, the first end of the third arm and the top of the other end of the first support arm are hinged, the second end of the third arm, the bottom of the other end of the first support arm and the hinge rod at the rear end of one side of the conveying plate are hinged, the horizontal part of the L-shaped support seat is arranged parallel to the first support arm and is fixedly connected to the other end of the first support arm, the L-shaped support seat is provided with a vertical slide groove along the direction of its own vertical part, and the hinge rods at the first end of the first support and the front end of one side of the conveying plate are both slidably matched with the vertical slide groove.

[0034] Optionally, the walking collection device further comprises wheels rotatably arranged around the frame, two groups of power mechanisms symmetrically arranged on the frame, each group of the power mechanisms comprises a driving sprocket rotatably mounted on the frame, a transmission chain, two driven sprockets respectively rotating coaxially with the wheels, a driving module driving the driving sprocket to rotate, and a tensioning module for tensioning the transmission chain, the two driven sprockets are located at the front and rear sides of the driving sprocket to form a triangular structure, and the transmission chain transmission connects the driving sprocket and the two driven sprockets;

[0035] The lifting and collecting mechanism includes an lifting frame rotatably arranged on the frame, a potato receiving plate, a potato collecting box located on the upper part of the frame, a damaged potato trough, and a rotating drive component that drives the lifting frame to rotate. The lifting frame is located below the exit of the rotating conveying module. The lifting frame is provided with a groove toward the front end, and a plurality of potato receiving troughs are provided along the circumference of the inner wall of the groove. Each potato receiving trough is provided with a potato blocking plate facing the rotation direction of the lifting frame. The potato receiving plate is inclined with a lower front side and a higher rear side to transport potatoes from the lifting frame to the potato collecting box. The damaged potato trough is detachably mounted on a side of the second support arm and is located above the rotating conveying module. The lifting frame is provided with a through groove for taking and placing the damaged potato trough.

[0036] As described above, the potato vine cutting, harvesting and collecting machine of the present invention has at least the following beneficial effects:

[0037] 1. Through the cooperation of the walking collection device, the seedling cutting device, the digging device and the conveying and separation device, the continuous and automated process of potato harvesting is realized, which can improve the harvesting efficiency and quality of potato harvesting, thereby solving the problem of low mechanical degree of manual picking;

[0038] 2. The potato body-soil attachment boundary and the damaged part boundary are photographed and identified in real time through the mobile identification module, and the results are fed back to the control module. After analysis, the control module controls the movement of the mobile identification module, and controls the movement of the grabbing power module in the vertical direction through the extension and retraction of the first telescopic component. The grabbing power module controls multiple fan-shaped claws to open or close at the same time to grab potatoes. When the potatoes are grabbed and the soil is not separated, the telescopic end of the first telescopic rod contracts, and the hemispherical claw moves into the arc groove. At this time, the ultrasonic transducer works to drive the die head to work on the surface of the potato body in the hemispherical claw The soil on the surface of the potato is crushed, and the soil separated from the surface of the potato flows out through the soil leakage hole. Not only can the soil be crushed in a short time, but the crushing effect can also be accurately controlled by adjusting the ultrasonic parameters, thereby solving the problems of incomplete separation of soil and low separation efficiency under heavy soil; the first worm is driven to rotate by the grasping power part, which drives the first turbine meshing with the first worm to rotate, thereby realizing the opening and closing of the hemispherical clamp. During the grasping process, the shape of the hemispherical clamp can better fit the shape of the potato, increase the contact area and evenly apply force, thereby improving the stability and reliability of grasping;

[0039] 3. The rotating rod is driven to rotate by the rotating rod power assembly and the plurality of rotating rods are arranged at a first spacing and are driven by a chain and a rotating sprocket, which can provide a smooth and continuous conveying power, and is convenient for the preliminary separation of potatoes and soil. The soil can leak from the spacing between the rotating rods, and the potatoes will not be bumped or stuck during the conveying process. At the same time, it also solves the problem that when the potatoes are conveyed, the potatoes remain stationary relative to the part of the conveyor belt they contact, making it difficult to clean the soil adhering to the surface of the potatoes; the rotation of the rotating rod drives the two rollers to rotate, and the rotation of the rollers stretches the first elastic member upward or resets it downward, and the fixed arm moves upward or downward. At this time, the roller rolls in the roller groove, and the beating rod beats the potatoes with soil, which can effectively remove the soil attached to the surface of the potatoes, so that the soil leaks from the gaps between the rotating rods, thereby improving the separation effect; at the same time, by hingedly connecting one end of the fixed arm and moving the other end up and down, it can be achieved that the beating force at the lower end is large and the beating force at the upper end is small, which can effectively prevent the potatoes from rolling back to the ground;

[0040] 4. Through the cooperation of the fixed cutting knife and the dynamic cutting mechanism, as the walking collection device moves forward, the cut potato vines are squeezed into the U-shaped shell from the opening of the U-shaped shell, so that the potato vines are cut first and then dug, thereby improving the overall efficiency and quality of potato harvesting. The potato vines are cut and transported out of the U-shaped shell into the soil through the cutting and conveying mechanism, which can provide conditions for continuous cutting of vines, and the cut potato vines can also be quickly decomposed in the soil, which can increase the organic matter content of the soil, improve the soil structure, improve the soil fertility, and improve the soil ecology;

[0041] 5. The first gear is driven to rotate by the angle power member to drive the arc rack to rotate, so that the angle shaft rotates to drive multiple digging shovels to rotate, so as to adjust the digging shovel's entry angle into the soil, so as to cut into the soil more smoothly, reduce digging resistance, and thus improve the speed and efficiency of digging. As the walking collection device moves forward, the soil crushing drive mechanism drives the spiral blades on the soil crushing rod to crush large pieces of soil, and efficiently drains the soil through the soil leakage groove on the conveying plate, thereby reducing the accumulation of soil on the conveying plate; according to different varieties or planting methods, the first support is slid up and down in the vertical slide groove of the L-shaped support seat through the extension of the second telescopic component, so that the first support arm drives the front end of the conveying plate to move up and down, thereby realizing the adjustment of different digging depths, so as to avoid damaging or leaking potatoes during digging, and improve the yield;

[0042] 6. The lifting frame is driven to rotate by rotating the driving assembly, and the potato receiving trough on the lifting frame lifts the potatoes from the bottom upward. In the process of lifting the potatoes upward, the potatoes in the potato receiving trough fall onto the potato receiving plate under the action of their own gravity, and then are transported to the potato collecting box through the potato receiving plate with a low front and high rear inclined setting, thereby solving the problem of manual picking up and easy omission. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 Shown is a schematic diagram of the three-dimensional structure of the present invention;

[0044] Figure 2 It is a schematic diagram of a three-dimensional structure from another viewing angle of the present invention;

[0045] Figure 3 Shown is a schematic diagram of the internal structure of the present invention;

[0046] Figure 4 It is a schematic diagram of the three-dimensional structure of the conveying and separating device of the present invention;

[0047] Figure 5 It is a schematic diagram of the three-dimensional structure of the conveying and separating device from another perspective of the present invention;

[0048] Figure 6 It shows the structural schematic diagram of the rotating conveying module, ultrasonic potato-soil separation mechanism, and beating separation mechanism of the present invention;

[0049] Figure 7 Shown is an exploded view of the ultrasonic potato-soil separation mechanism of the present invention;

[0050] Figure 8 Shown is a schematic diagram of the three-dimensional structure of the excavation device of the present invention;

[0051] Fig. 9 It is a schematic diagram of the three-dimensional structure of the rice seedling cutting device of the present invention;

[0052] Fig.10Shown is a schematic diagram of the three-dimensional structure of the power mechanism of the present invention.

[0053] Component number description

[0054] Excavating device 1, excavating shovel 11, conveying plate 12, soil leakage trough 121, hinged rod 122, side plate 13, soil crushing rod 14, soil crushing driving mechanism 15, angle shaft 16, angle driving mechanism 17, first gear 171, arc rack 172, angle power member 173, depth adjustment mechanism 18, second telescopic component 181, first support 182, up and down movement mechanism 183, first support arm 1831, second support arm 1832, third support arm 1833, L-shaped support seat 1834, vertical slide 18341;

[0055] Conveying and separating device 2, first supporting arm 21, chain groove 211, limiting groove 212, second supporting arm 22, rotating conveying module 23, rotating rod 231, rotating sprocket 232, chain 233, rotating rod power assembly 234, ultrasonic soil separation mechanism 24, mobile identification module 241, top plate 2411, first screw rod 2412, second screw rod 2413, slide rail 2414, first slider 2415, second slider 2416, third slider 2417, identification assembly 2418, first driving assembly 2419, second driving assembly 24110, fixed seat 242, ultrasonic Transducer 243, die head 244, arc groove 2441, hemispherical clamp 245, soil leakage hole 2451, fan-shaped clamp 2452, first turbine 2453, cooling module 246, semiconductor cooling sheet 2461, heat sink 2462, arc structure 2463, grabbing power module 247, rotating cylinder 2471, first worm 2472, grabbing power member 2473, lug 2474, first telescopic assembly 248, beating separation mechanism 25, fixed arm 251, beating rod 252, roller 253, roller 254, circular roller groove 2541, first elastic member 255;

[0056] Walking collection device 3, frame 31, lifting collection mechanism 32, lifting frame 321, groove 3211, receiving groove 3212, blocking plate 3213, through groove 3214, receiving plate 322, collecting box 323, damaged groove 324, rotating driving assembly 325, wheel 33, power mechanism 34, driving sprocket 341, transmission chain 342, driven sprocket 343, driving module 344, tensioning module 345;

[0057] The seedling cutting device 4, the U-shaped housing 41, the fixed cutting knife 411, the moving cutting mechanism 42, the moving cutting knife 421, the sliding column 4211, the second worm 422, the second turbine 423, the rotating column 424, the spiral groove 4241, the linear return groove 4242, the cutting power part 425, the second elastic part 426, the chopping and conveying mechanism 43, the chopping shaft 431, the chopping knife group 432, the conveying rod 433, and the third turbine 434. DETAILED DESCRIPTION

[0058] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0059] See also Figures 1 to 10 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0060] The following embodiments are only for illustration purposes and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0061] In this embodiment, please refer to Figures 1 to 10The present invention provides a potato seedling cutting, harvesting and collecting integrated machine, comprising: a walking and collecting device 3, a seedling cutting device 4, a digging device 1 and a conveying and separating device 2, wherein the walking and collecting device 3 comprises a frame 31 and a lifting and collecting mechanism 32 arranged at the rear end of the mechanism, wherein the frame 31 may be provided with a driving position, in which case manual driving is required, or the driving position may not be provided, and at this time, a control signal is sent to the walking and collecting device 3 by using a wireless communication module, which can be used to control the walking and collecting device 3 to work, making the control more flexible and convenient, and the lifting and collecting mechanism 32 is used to lift and collect potatoes; the seedling cutting device 4 is installed on the walking and collecting device 3 The excavating device 1 is located below the seedling cutting device 4 and is used to dig potatoes. The excavating device 1 can be installed below or behind the seedling cutting device 4, or installed below and behind the seedling cutting device 4. The conveying and separating device 2 includes two first supporting arms 21 symmetrically installed on the frame 31 and inclined at an angle to the ground, two second supporting arms 22 symmetrically installed on the frame 31 and horizontally arranged, a rotating conveying module 23 for conveying a potato-soil mixture, and an ultrasonic potato-soil separation mechanism 24. One end of the first supporting arm 21 is fixedly connected to one end of the second supporting arm 22.

[0062] The ultrasonic potato-soil separation mechanism 24 includes a mobile identification module 241 installed on the frame 31, a fixed seat 242 fixedly connected to one end of the mobile identification module 241, an ultrasonic transducer 243 fixedly installed on the fixed seat 242, a die head 244 fixedly connected to the ultrasonic transducer 243, a hemispherical clamp 245, a cooling module 246 for cooling the hemispherical clamp 245, a grabbing power module 247 for controlling the opening and closing of the hemispherical clamp 245, and a first telescopic component 248 for controlling the vertical movement of the grabbing power module 247, wherein the first telescopic component 248 includes a hydraulic rod or an electric push rod, and the die head 244 and the hemispherical clamp 245 are connected. An arc groove 2441 is provided at one end of the contact mating, the hemispherical clamp 245 is located between the die head 244 and the cooling module 246, a soil leakage hole 2451 is provided at one end of the hemispherical clamp 245, the soil leakage hole 2451 and the central axis of the hemispherical clamp 245 are collinear, the hemispherical clamp 245 is composed of a plurality of the fan-shaped clamps 2452, a flexible material layer can be attached to the inner wall of the hemispherical clamp 245 to protect the potato skin from being damaged, and a first turbine 2453 is provided at the other end of each hemispherical clamp 245; the mobile identification module 241 is used to identify the potato body-soil attachment boundary and the damaged part boundary and move the hemispherical clamp 245 to grasp.

[0063] Through the cooperation of the walking collection device 3, the seedling cutting device 4, the digging device 1 and the conveying and separating device 2, a continuous and automated process of potato harvesting is realized, which can improve the harvesting efficiency and quality of potato harvesting, thereby solving the problem of manual picking up and low mechanization level. The mobile identification module 241 is used to take real-time photos of the potato body-soil attachment boundary and the damaged part boundary, and the results are fed back to the control module. After analysis, the control module controls the movement of the mobile identification module 241, and controls the grabbing power module 247 to move in the vertical direction through the extension and retraction of the first telescopic component 248. The grabbing power module 247 controls multiple fan-shaped claws 2452 to open or close at the same time to grab the potatoes. When the potatoes are grabbed but the soil is not separated, the telescopic end of the first telescopic rod contracts, and the hemispherical claw 245 moves into the arc groove 2441. At this time, the ultrasonic transducer 243 works to drive the die head 244 to work and crush the soil on the surface of the potato body in the hemispherical claw 245. The soil separated from the potato surface flows out through the soil leakage hole 2451. Not only can the soil be crushed in a short time, but the crushing effect can also be accurately controlled by adjusting the ultrasonic parameters, thereby solving the problems of incomplete soil separation and low separation efficiency under heavy soil.

[0064] In this embodiment, please refer to Figure 7 The grabbing power module 247 includes a rotating cylinder 2471, a first worm 2472 and a grabbing power member 2473 for driving the first worm 2472 to rotate. The grabbing power member 2473 includes a motor. One end of the rotating cylinder 2471 is fixedly connected to the telescopic end of the first telescopic assembly 248. The rotating cylinder 2471 and the first worm 2472 are coaxially arranged. The other end of the rotating cylinder 2471 is rotatably connected to each of the first turbines 2453 through a plurality of lugs 2474. The first worm 2472 is meshed with the first turbine 2453 on each of the fan-shaped clamps 2452 for transmission. The central axes of the first worm 2472 and the fan-shaped jaw 2452 are colinear, and an identifier is provided at one end of the first worm 2472 facing the hemispherical jaw 245, and the identifier can monitor the boundary between the potato body and the attached soil in real time during grasping and crushing; the first worm 2472 is driven to rotate by the grasping power member 2473, which drives the first turbine 2453 meshing with the first worm 2472 to rotate, thereby realizing the opening and closing of the hemispherical jaw 245. During the grasping process, the shape of the hemispherical jaw 245 can better fit the shape of the potato, increase the contact area and evenly apply force, thereby improving the stability and reliability of grasping.

[0065] The cooling module 246 includes a semiconductor refrigeration sheet 2461 and a heat sink 2462. The semiconductor refrigeration sheet 2461 is installed on the fixing seat 242 and is arranged opposite to the die head 244. The cold end of the semiconductor refrigeration sheet 2461 is an arc structure 2463 and is in contact with the hemispherical clamp 245. The contact and cooperation between the arc structure 2463 and the hemispherical clamp 245 increases the contact area, improves the heat transfer efficiency, and ensures that the heat is quickly taken away. The heat sink 2462 is fixedly connected to the hot end of the semiconductor. The heat sink 2462 is fixedly connected to the hot end of the semiconductor refrigeration sheet 2461, which can quickly and effectively dissipate the heat generated during the refrigeration process, ensure the continuous and stable operation of the semiconductor refrigeration sheet 2461, and extend its service life.

[0066] In this embodiment, please refer to Figures 4 to 6 The mobile identification module 241 includes a top plate 2411 arranged on the top of the second support arm 22, a first screw rod 2412 rotatably arranged at the bottom of the top plate 2411, a second screw rod 2413, a slide rail 2414 symmetrically arranged with the first screw rod 2412 and fixedly installed at the bottom of the top plate 2411, a first slider 2415, a second slider 2416, a third slider 2417, an identification component 2418, a first driving component 2419 driving the first screw rod 2412 to rotate, and a second driving component 24110 driving the second screw rod 2413 to rotate, the first driving component 2419 including a motor, the second driving component 24110 including a motor, the rotation axis of the first screw rod 2412 is parallel to the potato conveying direction, the first slider 2415 is provided with a first slider 2416 and a second slider 2417, an identification component 2418, a first driving component 2419 driving the first screw rod 2412 to rotate, and a second driving component 24110 driving the second screw rod 2413 to rotate. 412 threaded match with the internal thread, the second slider 2416 is slidably matched with the slide rail 2414, the two ends of the second screw rod 2413 are rotatably installed on the first slider 2415 and the second slider 2416 respectively, the third slider 2417 is provided with an internal thread matched with the second screw rod 2413 thread, and the third slider 2417 is fixedly connected to the fixed seat 242; the first drive component 2419 and the second drive component 24110 are used to drive the rotation of the first screw rod 2412 and the second screw rod 2413 respectively, and the movement distance and speed in the front and back and left and right perpendicular directions can be independently and accurately adjusted to meet the different grasping requirements of the hemispherical clamp 245, and the stability and accuracy of the moving process are guaranteed through the cooperation of the first screw rod 2412 and the slide rail 2414, and the error and jitter are reduced.

[0067] The identification component 2418 is used to take potato pictures in real time and identify the potato body-soil attachment boundary and the damaged part boundary. The identification component 2418 is installed on the top plate 2411. The identification component 2418 is a prior art and will not be described in detail here.

[0068] In this embodiment, please refer to Figures 4 to 6 A chain groove 211 is provided from the other end of the first supporting arm 21 along its length direction to the other end of the second supporting arm 22;

[0069] The rotating conveying module 23 includes a plurality of rotating rods 231, a plurality of rotating sprockets 232, two chains 233, and a rotating rod power assembly 234 for driving one of the rotating rods 231 to rotate, wherein the rotating rod power assembly 234 includes a motor, and the plurality of rotating rods 231 are arranged at a first spacing along the length direction of the first support arm 21 and the second support arm 22, and the plurality of rotating rods 231 are rotatably mounted on the first support arm 21 and the second support arm 22, and each of the rotating rods 231 is coaxially fixed with a rotating sprocket 232 at both ends, and the plurality of rotating sprockets 232 are located in the chain groove 211, and the two chains 233 respectively drive and connect the rotating sprockets 232 at both ends of each rotating rod 231. The rotating rod 231 is driven to rotate by the rotating rod power assembly 234 and multiple rotating rods 231 are arranged at a first interval and driven by the chain 233 and the rotating sprocket 232, which can provide smooth and continuous conveying power, facilitate the initial separation of potatoes and soil, and the soil can leak from the intervals between the rotating rods 231. The potatoes will not be bumped or stuck during the conveying process. At the same time, it also solves the problem that when the potatoes are conveyed, the potatoes remain stationary relative to the part of the conveyor belt they contact, making it difficult to clean the soil adhering to the surface of the potatoes.

[0070] In this embodiment, please refer to Figure 5 and Figure 6 The conveying and separating device 2 also includes a beating and separating mechanism 25, and the beating and separating mechanism 25 moves up and down to beat the potatoes with soil;

[0071] A limiting groove 212 is provided on the side of the first support arm 21; the flapping separation mechanism 25 includes two fixed arms 251 symmetrically arranged and located in the chain groove 211, a plurality of flapping rods 252, two rollers 253, two rollers 254, and a first elastic member 255 for resetting the fixed arm 251 to the bottom of the chain groove 211, one end of the fixed arm 251 is hinged to one end of the first support arm 21, a plurality of the flapping rods 252 are arranged at a second interval along the length direction of the fixed arm 251, both ends of the plurality of the flapping rods 252 pass through the limiting groove 212 and are fixedly connected to the fixed arm 251, and each of the flapping rods 252 is connected to the adjacent rotating rod 23 1 forms a V-shaped structure, two rollers 253 are rotatably mounted on the other end of the fixed arm 251, the roller 254 is provided with a circular roller groove 2541 that rolls with the roller 253, the circular roller groove 2541 on the roller 254 is provided with a through hole at a position deviating from the center of the circle, and the two rollers 254 are respectively coaxially fixedly matched with a rotating rod 231 near the other end of the first supporting arm 21 through the through hole. Initially, the two rollers 253 are located at the end far from the through hole; the first elastic member 255 includes a spring, one end of the spring is fixedly connected to the other end of the fixed arm 251, and the other end of the spring is fixedly connected to the bottom of the chain slot 211. During operation, the two rollers 254 are driven to rotate by the rotation of the rotating rod 231. The rotation of the roller 254 stretches the first elastic member 255 upward or resets it downward, and the fixed arm 251 moves upward or downward. At this time, the roller 253 rolls in the roller 253 groove, and the beating rod 252 beats the potatoes with soil, which can effectively remove the soil attached to the surface of the potatoes and make the soil leak from the gap between the rotating rods 231, thereby improving the separation effect; at the same time, by hingedly connecting one end of the fixed arm 251 and moving the other end up and down, it can be achieved that the beating force at the lower end is large and the beating force at the upper end is small, which can effectively prevent the potatoes from rolling back to the ground.

[0072] In this embodiment, please refer to Figure 1 , Figure 3 and Fig. 9The potato vine cutting device 4 includes a U-shaped shell 41, a dynamic cutting mechanism 42, and a shredding and conveying mechanism 43 installed on the frame 31. A fixed cutting knife 411 is provided at the opening of the U-shaped shell 41. The dynamic cutting mechanism 42 reciprocates back and forth and cooperates with the fixed cutting knife 411 to cut the potato vines. The shredding and conveying mechanism 43 shreds the potato vines and conveys them out of the U-shaped shell 41. During operation, through the cooperation of the fixed cutting knife 411 and the dynamic cutting mechanism 42, as the walking collection device 3 moves forward, the cut potato vines are squeezed into the U-shaped shell 41 from the opening of the U-shaped shell 41, so that the potato vines are cut first and then dug, thereby improving the overall efficiency and quality of potato harvesting, and the potato vines are chopped and conveyed out of the U-shaped shell 41 into the soil through the chopped conveying mechanism 43, which can provide conditions for continuous vine cutting and the chopped potato vines can also be quickly decomposed in the soil, which can increase the organic matter content of the soil, improve the soil structure, improve soil fertility, and improve soil ecology.

[0073] In this embodiment, please refer to Fig. 9 The movable cutting mechanism 42 includes a movable cutting knife 421, a second worm 422, a second turbine 423 meshing with the second worm 422, a rotating column 424 coaxially rotating with the second worm 422, a cutting power member 425 driving the second worm 422 to rotate, and a second elastic member 426 for resetting the movable cutting knife 421 backward. The cutting power member 425 includes a motor. A sliding groove for sliding the movable cutting knife 421 is provided on the side of the U-shaped housing 41. A spiral groove 4241 and a linear return groove 4242 are provided on the rotating column 424. The spiral groove 4241 and the linear return groove 4242 are a group or a plurality of groups to improve the transmission efficiency. The linear return groove 4242 and the spiral groove 4241 are a plurality of groups. The head and tail ends of the spiral groove 4241 are connected, and a slide post 4211 is provided on one side surface of the movable cutting knife 421. The slide post 4211 slides in the spiral groove 4241 and the linear groove, and the second elastic member 426 includes a spring, and the spring resets the slide post 4211 backward in the linear groove; when working, the second worm 422 is driven to rotate by the cutting power member 425 to drive the rotating column 424 to rotate, and the slide post 4211 moves in the spiral groove 4241 to compress the second elastic member 426, so that the movable cutting knife 421 and the fixed cutting knife 411 cooperate with each other to cut the potato vines, so that the potato vines are cut first and then dug, and the spring resets the slide post 4211 backward in the linear groove to prepare for the next cutting;

[0074] The shredding and conveying mechanism 43 includes a shredding shaft 431 rotatably mounted on the U-shaped housing 41, a shredding knife group 432 fixedly arranged on the shredding shaft 431, a conveying rod 433 rotatably arranged at the rear end of the shredding shaft 431, and a third turbine 434 coaxially fixedly matched with the shredding shaft 431, the conveying rod 433 is coaxially fixedly matched with the second turbine 423, the shredding knife group 432 includes at least two blades fixed on the circumference of the shredding shaft 431, and the shredding knife group 432 is at least four groups in the axial direction of the shredding shaft 431. Multiple groups of the knife groups can effectively improve the cutting and crushing efficiency of potato vines, the conveying rod 433 is provided with spiral sheets along its own axial direction, and the third turbine 434 is meshed with the second worm 422 for transmission. During operation, the second worm gear 422 is meshed with the second turbine 423 and the third turbine 434 to drive the chopping shaft 431 and the conveying rod 433 to rotate respectively. The chopping shaft 431 rotates to drive the chopping knife group 432 to cut and crush the potato vines. The conveying rod 433 rotates the spiral blades to convey the chopped potato vines out of the U-shaped housing 41 into the soil, which can provide conditions for continuous cutting of the vines and the chopped potato vines can also be quickly decomposed in the soil, which can increase the organic matter content of the soil, improve the soil structure, increase the soil fertility, and improve the soil ecology.

[0075] In this embodiment, please refer to Figure 3 , Figure 4 and Figure 8The excavating device 1 includes a plurality of excavating shovels 11, a conveying plate 12, two side plates 13, a soil-breaking rod 14, a soil-breaking driving mechanism 15 for driving the soil-breaking rod 14 to rotate, an angle shaft 16, an angle driving mechanism 17, and a depth adjustment mechanism 18. The soil-breaking driving mechanism 15 includes a motor. The two side plates 13 are fixedly connected to the left and right ends of the conveying plate 12. The conveying plate 12 is provided with a plurality of soil leakage grooves 121. The soil leakage grooves 121 are convenient for efficient soil leakage and reducing the accumulation of soil on the conveying plate 12. The angle shaft 16 is rotatably mounted on the two side plates 13 and is located below the conveying plate 12. The plurality of excavating shovels 11 are arranged at a third spacing along the axial direction of the angle shaft 16. The soil-breaking rod 14 is rotatably mounted on the two side plates 13 and is located above the conveying plate 12. The soil-breaking rod 14 is provided with a spiral blade along its own axial direction. The spiral blade can effectively crush the soil when rotating, reduce resistance, and make the equipment run more smoothly. The angle drive mechanism 17 is used to drive the angle shaft 16 to rotate and adjust the entry angle of the digging shovel 11, which can cut into the soil more smoothly, reduce the digging resistance, thereby improving the speed and efficiency of digging, and can also reduce the impact and scratching of the digging shovel 11 on potatoes, reducing the possibility of damage to the potato body; the depth adjustment mechanism 18 adjusts the digging depth of the digging shovel 11. In the actual potato harvesting process, different digging depths can be used for different varieties or planting methods to avoid damaging or missing potatoes during the digging process; the angle drive mechanism 17 includes a first gear 171 rotatably arranged on one of the side plates 13, an arc-shaped rack 172, and an angle power member 173 that drives the first gear 171 to rotate. The angle power member 173 includes a motor, the arc-shaped rack 172 is coaxially fixedly matched with one end of the angle shaft 16, and the first gear 171 is meshed with the arc-shaped rack 172 for transmission.

[0076] During operation, the first gear 171 is driven to rotate through the angle power piece 173, thereby driving the arc-shaped rack 172 to rotate. The arc-shaped rack 172 can limit the adjusted angle. The angle shaft 16 rotates to drive multiple digging shovels 11 to rotate, thereby adjusting the digging shovel 11's entry angle into the soil, thereby cutting into the soil more smoothly, reducing digging resistance, and thus improving the digging speed and efficiency. As the walking collection device 3 moves forward, the soil crushing drive mechanism 15 drives the spiral blades on the soil crushing rod 14 to crush large pieces of soil, and efficiently leaks soil through the soil leakage groove 121 on the conveying plate 12, thereby reducing the accumulation of soil on the conveying plate 12.

[0077] In this embodiment, please refer to Figure 4 and Figure 8 , the front and rear ends of the left and right sides of the conveying plate 12 are provided with hinge rods 122;

[0078] The depth adjustment mechanism 18 includes a second telescopic component 181, a first support 182, and two groups of up and down motion mechanisms 183. The two ends of the second telescopic component 181 are respectively hinged on the frame 31 and between the two ends of the first support 182. The second telescopic component 181 includes a hydraulic rod or an electric push rod. The two groups of up and down motion mechanisms 183 are located on both sides of the conveying plate 12. Each group of the up and down motion mechanisms 183 includes a first support arm 1831, a second support arm 1832, a third support arm 1833, and an L-shaped support seat 1834 installed on the frame 31. The first end of the first support arm 1831 is hinged to the hinge rod 122 at the front end of one side of the conveying plate 12. The second end of the first support arm 1831 and the third end of the first support 182 are hinged to the hinge rod 122 at the front end of one side of the conveying plate 12. One end and the first end of the second support arm 1832 are hinged, the second end of the second support arm 1832, the first end of the third support arm 1833 and the top of the other end of the first support arm 21 are hinged, the second end of the third support arm 1833, the bottom of the other end of the first support arm 21 and the hinge rod 122 at the rear end of a side surface of the conveying plate 12 are hinged, the horizontal part of the L-shaped support seat 1834 is arranged parallel to the first support arm 21 and is fixedly connected to the other end of the first support arm 21, the L-shaped support seat 1834 is provided with a vertical slide groove 18341 along the direction of its vertical part, and the first end of the first support 182 and the hinge rod 122 at the front end of a side surface of the conveying plate 12 are both slidably matched with the vertical slide groove 18341. During operation, according to different varieties or planting methods, the first support 182 is slid up and down in the vertical slide groove 18341 of the L-shaped support seat 1834 through the extension and contraction of the second telescopic component 181, so that the first support arm 1831 drives the front end of the conveying plate 12 to move up and down, thereby realizing the adjustment of different digging depths to avoid damaging or missing potatoes during the digging process and increase the yield.

[0079] In this embodiment, please refer to Figure 1 , Figure 2 , Figure 3 and Fig.10The walking collection device 3 also includes wheels 33 rotatably arranged around the frame 31, two groups of power mechanisms 34 symmetrically arranged on the frame 31, each group of the power mechanisms 34 includes a driving sprocket 341 rotatably mounted on the frame 31, a transmission chain 342, two driven sprockets 343 respectively rotating coaxially with the wheels 33, a driving module 344 driving the driving sprocket 341 to rotate, and a tensioning module 345 for tensioning the transmission chain 342, the driving module 344 includes a motor, and the two driven sprockets 343 are located on the driving sprocket 341. The front and rear sides form a triangular structure, which can make the transmission between the sprockets more stable and reliable, reduce the jumping and relaxation of the chain 233, reduce the probability of failure, and adapt to different load changes. The transmission chain 342 connects the active sprocket 341 and the two driven sprockets 343. The transmission chain 342 can withstand large loads, is suitable for heavy loads and harsh working environments, and can also transmit accurately; when working, the drive module 344 symmetrically arranged on the left and right independently drives the tires on the front and rear sides, so that the turning radius is different, so that it can better adapt to different sizes of plots in hilly and mountainous areas and improve practicality.

[0080] The lifting and collecting mechanism 32 includes an lifting frame 321 rotatably arranged on the frame 31, a potato receiving plate 322, a potato collecting box 323 located on the upper part of the frame 31, a damaged potato trough 324, and a rotating driving component 325 for driving the lifting frame 321 to rotate. The rotating driving component 325 includes a motor. The lifting frame 321 is located below the exit of the rotating conveying module 23. The rotating axis of the lifting frame 321 is parallel to the conveying direction of potatoes. The lifting frame 321 is provided with a groove 3211 at the front end. A plurality of potato receiving grooves 3212 are provided on the circumference of the inner wall of the groove 3211, and each of the potato receiving grooves 3212 is provided with a potato blocking plate 3213 in the rotation direction of the lifting frame 321. The potato receiving plate 322 is tilted and arranged to be low in the front and high in the back to transport potatoes from the lifting frame 321 to the potato collecting box 323. The damaged potato groove 324 is detachably mounted on a side of the second support arm 22 and is located above the rotating conveying module 23. The lifting frame 321 is provided with a through groove 3214 for taking and placing the damaged potato groove 324. During operation, the lifting frame 321 is driven to rotate by rotating the driving assembly 325, and the potato receiving trough 3212 on the lifting frame 321 lifts the potatoes from the bottom upward. In the process of lifting the potatoes upward, under the action of their own gravity, the potatoes in the potato receiving trough 3212 fall onto the potato receiving plate 322, and then are transported to the potato collecting box 323 through the potato receiving plate 322 which is tilted and arranged low in front and high in the back, thereby solving the problem of manual picking up and easy omission; when the hemispherical clamp 245 grabs damaged potatoes, the damaged potatoes are placed in the damaged potato trough 324 at this time.

[0081] Working principle: When in use, according to different varieties or planting methods, the first support 182 is slid up and down in the vertical slide groove 18341 of the L-shaped support seat 1834 through the extension and contraction of the second telescopic component 181, so that the first support arm 1831 drives the front end of the conveying plate 12 to move up and down, thereby realizing the adjustment of different excavation depths to avoid damaging or leaking potatoes during excavation. The first gear 171 is driven to rotate by the angle power member 173 to drive the arc rack 172 to rotate. The arc rack 172 can limit the adjustment angle. The angle shaft 16 rotates to drive multiple excavating shovels 11 to rotate, so as to adjust the entry angle of the excavating shovel 11 into the soil, thereby cutting into the soil more smoothly and reducing excavation resistance. The second worm 422 is driven to rotate and drive the rotating column 424 to rotate. The sliding column 4211 moves in the spiral groove 4241 to compress the second elastic member 426, so that the movable cutting knife 421 and the fixed cutting knife 411 cooperate with each other to cut the potato vines, so that the potato vines are cut first and then dug. The spring resets the sliding column 4211 backward in the linear slide groove to prepare for the next cutting. At the same time, the second worm 422 is respectively engaged with the second turbine 423 and the third turbine 434 to drive the shredding shaft 431 and the conveying rod 433 to rotate respectively. The shredding shaft 431 rotates to drive the shredding knife group 432 to cut and crush the potato vines. When the conveying rod 433 rotates, the spiral sheet conveys the shredded potato vines out of the U-shaped housing 41 into the soil.

[0082] As the walking collection device 3 moves forward, the soil crushing driving mechanism 15 drives the spiral blades on the soil crushing rod 14 to crush large pieces of soil, and efficiently leaks soil through the soil leaking groove 121 on the conveying plate 12, thereby reducing the accumulation of soil on the conveying plate 12; the rotating rod power assembly 234 drives the rotating rod 231 to rotate, and the multiple rotating rods 231 are arranged at a first spacing, and are driven by the chain 233 and the rotating sprocket 232, which can provide a smooth and continuous conveying power, which is convenient for the initial separation of potatoes and soil, and the soil can leak from the spacing between the rotating rods 231; the rotation of the rotating rod 231 drives the two rollers 254 to rotate at the same time, and the rotation of the roller 254 stretches the first elastic member 255 upward or resets it downward, and the fixed arm 251 moves upward or downward, at this time, the roller 253 rolls in the roller 253 groove, and the slapping rod 252 slaps the potatoes with soil, which can effectively remove the soil attached to the surface of the potatoes, so that the soil is The soil leaks from the gap between the rotating rods 231, thereby improving the separation effect; at the same time, by hingedly connecting one end of the fixed arm 251 and moving the other end up and down, it is possible to achieve a large beating force at the lower end and a small beating force at the upper end, which can effectively prevent the potatoes from rolling back to the ground; when the potatoes are transported to the connection between the first support arm 21 and the second support arm 22, the recognition component 2418 takes a picture of the potatoes in real time and identifies the potato body-soil attachment boundary and the damaged part boundary, and feeds the results back to the control module, and drives the rotation of the first screw rod 2412 and the second screw rod 2413 respectively through the first drive component 2419 and the second drive component 24110, which can independently and accurately adjust the moving distance and speed in the mutually perpendicular directions of front and back and left and right to meet the different grasping requirements of the hemispherical clamp 245, and the cooperation of the first screw rod 2412 and the slide rail 2414 ensures the stability and accuracy of the moving process, and reduces errors and jitters;

[0083] By extending and retracting the first telescopic component 248, the grabbing power module 247 is controlled to move in the vertical direction. The grabbing power module 247 controls the multiple fan-shaped clamps 2452 to open or close at the same time to grab potatoes. When the potatoes are grabbed and the soil is not separated, the telescopic end of the first telescopic rod is contracted, and the hemispherical clamp 245 moves into the arc groove 2441. At this time, the ultrasonic transducer 243 drives the die head 244 to work to crush the soil on the surface of the potato body in the hemispherical clamp 245. The soil separated from the potato surface flows out through the soil leakage hole 2451, which can not only crush the soil in a short time, but also can be crushed by the ultrasonic parameters. Adjustment can be performed to precisely control the crushing effect, thereby solving the problems of incomplete separation of potato and soil and low separation efficiency under heavy soil. When the hemispherical clamp 245 grabs damaged potatoes, the damaged potatoes are placed in the damaged potato trough 324. The lifting frame 321 is driven to rotate by rotating the driving assembly 325, and the potato receiving trough 3212 on the lifting frame 321 lifts the potatoes from the bottom upward. In the process of the potatoes being lifted upward, the potatoes in the potato receiving trough 3212 fall onto the potato receiving plate 322 under the action of their own gravity, and are then transported to the potato collecting box 323 through the potato receiving plate 322 which is tilted low in the front and high in the back, and the excavation work is continued until the task is completed.

[0084] In summary, the present invention realizes the continuous and automated process of potato harvesting through the coordinated cooperation of the walking collection device 3, the seedling cutting device 4, the digging device 1 and the conveying and separation device 2, which can improve the harvesting efficiency and quality of potato harvesting, thereby solving the problem of low mechanical degree of manual picking up; the potato body-soil attachment boundary and the damaged part boundary are photographed and identified in real time through the mobile identification module 241, and the results are fed back to the control module. After analysis, the control module controls the movement of the mobile identification module 241, and controls the movement of the grasping power module 247 in the vertical direction through the extension and retraction of the first telescopic component 248. The grasping power module 247 controls multiple fan-shaped claws 2452 is opened or closed at the same time to grab potatoes. When the potatoes grabbed are potatoes that have not been separated from the soil, the telescopic end of the first telescopic rod contracts, and the hemispherical clamp 245 moves into the arc groove 2441. At this time, the ultrasonic transducer 243 works to drive the die head 244 to work to crush the soil on the surface of the potato body in the hemispherical clamp 245, and the soil separated from the surface of the potato flows out through the soil leakage hole 2451. Not only can the soil be crushed in a short time, but the crushing effect can also be accurately controlled by adjusting the ultrasonic parameters, thereby solving the problem of incomplete soil separation and low separation efficiency under heavy soil; the first worm 2472 is driven to rotate by the grabbing power piece 2473, driving the first worm 2472 to rotate with the first worm The first turbine 2453 of the meshing transmission 2472 rotates, thereby realizing the opening and closing of the hemispherical clamp 245. During the grasping process, the shape of the hemispherical clamp 245 can better fit the shape of the potato, increase the contact area and evenly apply force, thereby improving the stability and reliability of grasping; the rotating rod 231 is driven to rotate by the rotating rod power component 234, and multiple rotating rods 231 are arranged at a first spacing, and are driven by the chain 233 and the rotating sprocket 232, which can provide a smooth and continuous conveying power, facilitate the initial separation of potatoes and soil, and the soil can leak from the spacing between the rotating rods 231. The potatoes will not be bumped or stuck during the conveying process, and it also solves the problem that the potatoes are relatively close to the potatoes when they are conveyed. The part on the conveyor belt that is in contact with the potatoes remains stationary, making it difficult to clean the dirt on the surface of the potatoes. The two rollers 254 are driven to rotate by the rotation of the rotating rod 231. The rotation of the roller 254 stretches the first elastic member 255 upward or resets it downward, and the fixed arm 251 moves upward or downward. At this time, the roller 253 rolls in the groove of the roller 253, and the beating rod 252 beats the potatoes with dirt, which can effectively remove the dirt attached to the surface of the potatoes and make the dirt leak from the gap between the rotating rods 231, thereby improving the separation effect. At the same time, by hingedly connecting one end of the fixed arm 251 and moving the other end up and down, it can be achieved that the beating force at the lower end is large and the beating force at the upper end is small, which can effectively prevent the potatoes from rolling back to the ground.Through the cooperation of the fixed cutting blade 411 and the dynamic cutting mechanism 42, as the walking and collecting device 3 moves forward, the cut potato vines are squeezed into the U-shaped shell 41 from the opening of the U-shaped shell 41, so that the potatoes are cut first and then dug, thereby improving the overall efficiency and quality of potato harvesting, and the potato vines are cut and conveyed out of the U-shaped shell 41 into the soil by the cutting and conveying mechanism 43, which can not only provide the conditions for continuous cutting, but also the chopped potato vines can be quickly decomposed in the soil, which can increase the organic matter content of the soil, improve the soil structure, improve the soil fertility, and improve the soil ecology; the first gear 171 is driven to rotate by the angle power member 173 to drive the arc rack 172 to rotate, and the arc rack 172 can limit the adjustment angle, and the angle shaft 16 rotates to drive multiple digging shovels 11 to rotate, so as to adjust the digging shovel 11 into the soil, so as to cut into the soil more smoothly, reduce the digging resistance, and thus improve the digging speed and efficiency. The driving mechanism 15 drives the spiral blades on the soil-breaking rod 14 to break up the large pieces of soil, and efficiently leaks soil through the soil leakage groove 121 on the conveying plate 12, thereby reducing the accumulation of soil on the conveying plate 12; according to different varieties or planting methods, the first support 182 slides up and down in the vertical slide groove 18341 of the L-shaped support seat 1834 through the extension and contraction of the second telescopic component 181, so that the first support arm 1831 drives the front end of the conveying plate 12 to move up and down, thereby realizing the adjustment of different excavation depths to avoid The potato is not damaged or missed during the digging process, and the yield is increased; the lifting frame 321 is driven to rotate by the rotating drive component 325, and the potato receiving groove 3212 on the lifting frame 321 lifts the potatoes from the bottom upward. In the process of the potatoes being lifted upward, under the action of their own gravity, the potatoes in the potato receiving groove 3212 fall onto the potato receiving plate 322, and then are transported to the potato collecting box 323 through the potato receiving plate 322 that is tilted and arranged at the front lower and the back higher, thereby solving the problem of manual picking and easy missing. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has a high industrial utilization value. ;

[0085] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A potato vine cutting, harvesting and collecting machine, characterized in that: include: A walking collection device, the walking collection device comprising a frame and a lifting and collecting mechanism arranged at the rear end of the frame; A seedling cutting device, the seedling cutting device is installed in front of the walking collecting device; A digging device, the digging device is located below the seedling cutting device and is used for digging potatoes; A conveying and separating device, the conveying and separating device comprising two first support arms symmetrically mounted on the frame and tilted at an angle to the ground, two second support arms symmetrically mounted on the frame and horizontally arranged, a rotating conveying module for conveying a potato-soil mixture, and an ultrasonic potato-soil separation mechanism, wherein one end of the first support arm is fixedly connected to one end of the second support arm; The ultrasonic potato-soil separation mechanism comprises a mobile identification module mounted on the frame, a fixed seat fixedly connected to one end of the mobile identification module, an ultrasonic transducer fixedly mounted on the fixed seat, a die head fixedly connected to the ultrasonic transducer, a hemispherical clamp, a cooling module for cooling the hemispherical clamp, a grabbing power module for controlling the opening and closing of the hemispherical clamp, and a first telescopic component for controlling the vertical movement of the grabbing power module; an arc groove is provided at one end of the die head and the hemispherical clamp, the hemispherical clamp is located between the die head and the cooling module, a soil leakage hole is provided at one end of the hemispherical clamp, the soil leakage hole and the central axis of the hemispherical clamp are collinear, the hemispherical clamp is composed of a plurality of fan-shaped clamps, and each of the fan-shaped clamps is provided with a first turbine at the other end; The mobile identification module is used to identify the potato body-soil attachment boundary and the damaged part boundary and move the hemispherical gripper to grasp; The grabbing power module comprises a rotating cylinder, a first worm and a grabbing power member driving the first worm to rotate, one end of the rotating cylinder is fixedly connected to the telescopic end of the first telescopic assembly, the rotating cylinder and the first worm are coaxially arranged, the other end of the rotating cylinder is respectively connected to each of the first turbines through a plurality of lugs, the first worm is meshed with the first turbine on each of the fan-shaped clamping jaws for transmission, the central axis of the first worm and the hemispherical clamping jaw are colinear, and an identifier is provided at one end of the first worm facing the hemispherical clamping jaw; The cooling module includes a semiconductor refrigeration sheet and a heat sink. The semiconductor refrigeration sheet is mounted on the fixing seat and arranged opposite to the die head. The cold end of the semiconductor refrigeration sheet is an arc-shaped structure and contacts and cooperates with the hemispherical clamp. The heat sink is fixedly connected to the hot end of the semiconductor refrigeration sheet.

2. The potato seedling cutting, harvesting and collecting machine according to claim 1, characterized in that: The mobile identification module includes a top plate arranged on the top of the second supporting arm, a first screw rod rotatably arranged at the bottom of the top plate, a second screw rod, a slide rail symmetrically arranged with the first screw rod and fixedly installed at the bottom of the top plate, a first slider, a second slider, a third slider, an identification component, a first drive component driving the first screw rod to rotate, and a second drive component driving the second screw rod to rotate, the rotation axis of the first screw rod is parallel to the potato conveying direction, the first slider is provided with an internal thread matching with the thread of the first screw rod, the second slider is slidably matched with the slide rail, the two ends of the second screw rod are rotatably mounted on the first slider and the second slider respectively, the third slider is provided with an internal thread matching with the thread of the second screw rod, and the third slider is fixedly connected to the fixing seat; The identification component is used to take potato pictures in real time and identify the potato body-soil attachment boundary and the damaged part boundary.

3. The potato vine cutting, harvesting and collecting machine according to claim 1, characterized in that: A chain groove is provided at the other end of the first supporting arm along its length direction to the other end of the second supporting arm; The rotating conveying module includes multiple rotating rods, several rotating sprockets, two chains, and a rotating rod power assembly for driving one of the rotating rods to rotate. The multiple rotating rods are arranged at a first spacing along the length direction of the first support arm and the second support arm. The multiple rotating rods are rotatably installed on the first support arm and the second support arm. Each of the two ends of the rotating rod is coaxially fixed with a rotating sprocket, and the several rotating sprockets are located in the chain groove. The two chains respectively transmit and connect the rotating sprockets at the two ends of each rotating rod.

4. The potato vine cutting, harvesting and collecting machine according to claim 3, characterized in that: The conveying and separating device further comprises a beating and separating mechanism, which moves up and down to beat the potatoes with soil; A limiting groove is provided on the side surface of the first supporting arm; The flapping separation mechanism includes two fixed arms symmetrically arranged and located in the chain slot, a plurality of flapping rods, two rollers, two drums, and a first elastic member for resetting the fixed arm to the bottom of the chain slot, one end of the fixed arm is hinged to one end of the first support arm, a plurality of flapping rods are arranged at a second interval along the length direction of the fixed arm, both ends of a plurality of flapping rods pass through the limiting groove and are fixedly connected to the fixed arm, each flapping rod and the adjacent rotating rod form a V-shaped structure, two rollers are rotatably mounted on the other end of the fixed arm, a circular roller groove is provided on the drum for rolling cooperation with the roller, a through hole is provided on the circular roller groove on the drum at a position deviating from the center of the circle, and the two rollers are coaxially fixedly cooperated with a rotating rod close to the other end of the first support arm through the through hole respectively.

5. The potato vine cutting, harvesting and collecting machine according to claim 1, characterized in that: The potato vine cutting device comprises a U-shaped shell, a dynamic cutting mechanism and a shredding and conveying mechanism installed on the frame. A fixed cutting knife is provided at the opening of the U-shaped shell. The dynamic cutting mechanism reciprocates back and forth and cooperates with the fixed cutting knife to cut the potato vines. The shredding and conveying mechanism shreds the potato vines and conveys them out of the U-shaped shell.

6. The potato vine cutting, harvesting and collecting machine according to claim 5, characterized in that: The movable cutting mechanism comprises a movable cutting knife, a second worm, a second turbine meshing with the second worm, a rotating column coaxially rotating with the second worm, a cutting power member driving the second worm to rotate, and a second elastic member resetting the movable cutting knife backwards; a sliding groove for sliding the movable cutting knife is provided on the side of the U-shaped housing; a spiral groove and a linear return groove are provided on the rotating column; the linear return groove is connected to the first and tail ends of the spiral groove; a sliding column is provided on one side surface of the movable cutting knife; the sliding column slides in the spiral groove and the linear return groove; The shredding and conveying mechanism includes a shredding shaft rotatably mounted on the U-shaped housing, a shredding knife group fixedly arranged on the shredding shaft, a conveying rod rotatably arranged at the rear end of the shredding shaft, and a third turbine coaxially fixedly matched with the shredding shaft, the conveying rod is coaxially fixedly matched with the second turbine, the shredding knife group includes at least two blades fixed in the circumferential direction of the shredding shaft, the shredding knife group is at least four groups in the axial direction of the shredding shaft, the conveying rod is provided with a spiral sheet along its own axial direction, and the third turbine is meshed with the second worm for transmission.

7. The potato vine cutting, harvesting and collecting machine according to claim 1, characterized in that: The excavation device comprises a plurality of excavating shovels, a conveying plate, two side plates, a soil-breaking rod, a soil-breaking driving mechanism for driving the soil-breaking rod to rotate, an angle shaft, an angle driving mechanism, and a depth adjustment mechanism. The two side plates are fixedly connected to the left and right ends of the conveying plate, and a plurality of soil leakage grooves are provided on the conveying plate. The angle shaft is rotatably mounted on the two side plates and is located below the conveying plate. The plurality of excavating shovels are arranged at a third interval along the axial direction of the angle shaft. The soil-breaking rod is rotatably mounted on the two side plates and is located above the conveying plate, and the soil-breaking rod is provided with a spiral sheet along its own axial direction. The angle driving mechanism is used to drive the angle rotating shaft to rotate and adjust the soil entry angle of the digging shovel; The depth adjustment mechanism adjusts the digging depth of the digging shovel; The angle driving mechanism includes a first gear rotatably arranged on the side plate, an arc-shaped rack, and an angle power member driving the first gear to rotate. The arc-shaped rack is coaxially fixedly matched with one end of the angle rotating shaft, and the first gear is meshed with the arc-shaped rack for transmission.

8. The potato vine cutting, harvesting and collecting machine according to claim 7, characterized in that: The front and rear ends of the left and right sides of the conveying plate are provided with hinge rods; The depth adjustment mechanism comprises a second telescopic assembly, a first support, and two groups of up-and-down motion mechanisms, the two ends of the second telescopic assembly are respectively hinged on the frame and between the two ends of the first support, the two groups of up-and-down motion mechanisms are located on both sides of the conveying plate, each group of the up-and-down motion mechanisms comprises a first arm, a second arm, a third arm, and an L-shaped support seat installed on the frame, the first end of the first arm is hinged to the hinge rod at the front end of one side of the conveying plate, the second end of the first arm, the first end of the first support and the first end of the second arm are hinged, the second end of the second arm, the first end of the third arm and the top of the other end of the first support arm are hinged, the second end of the third arm, the bottom of the other end of the first support arm and the hinge rod at the rear end of one side of the conveying plate are hinged, the horizontal part of the L-shaped support seat is arranged parallel to the first support arm and is fixedly connected to the other end of the first support arm, the L-shaped support seat is provided with a vertical slide groove along the direction of its own vertical part, and the hinge rods at the first end of the first support and the front end of one side of the conveying plate are both slidably matched with the vertical slide groove.

9. The potato vine cutting, harvesting and collecting machine according to claim 1, characterized in that: The walking and collecting device also includes wheels rotatably arranged around the frame, two groups of power mechanisms symmetrically arranged on the frame, each group of the power mechanisms includes a driving sprocket rotatably installed on the frame, a transmission chain, two driven sprockets that rotate coaxially with the wheels, a driving module that drives the driving sprocket to rotate, and a tensioning module for tensioning the transmission chain. The two driven sprockets are located on the front and rear sides of the driving sprocket to form a triangular structure, and the transmission chain drives the driving sprocket and the two driven sprockets to connect; the lifting and collecting mechanism includes a lifting frame rotatably arranged on the frame, A potato receiving plate, a potato collecting box located on the upper part of the frame, a damaged potato trough, and a rotating drive component that drives the lifting frame to rotate. The lifting frame is located below the exit of the rotating conveying module. The lifting frame is provided with a groove toward the front end, and a plurality of potato receiving troughs are provided along the circumference of the inner wall of the groove. Each potato receiving trough is provided with a potato blocking plate in the rotation direction of the lifting frame. The potato receiving plate is tilted with a lower front side and a higher rear side to transport potatoes from the lifting frame to the potato collecting box. The damaged potato trough is detachably mounted on a side of the second support arm and is located above the rotating conveying module. The lifting frame is provided with a through groove for taking and placing the damaged potato trough.

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