Full-automatic radish harvester

Abstract

The invention relates to the technical field of radish harvesting equipment, in particular to a full-automatic radish harvester. The full-automatic radish harvester comprises a machine frame, a walking device, a radish harvesting device, a radish leaf cutting device, a processing device and a collecting device, the walking device, the radish harvesting device, the radish leaf cutting device, the processing device and the collecting device are installed on the machine frame, a distance adjusting mechanism used for adjusting the distance between harvesting arm sets is arranged on the radish harvesting device, and a conveying mechanism is arranged at the bottom of the processing device. The output end of the conveying mechanism is provided with a soil removing mechanism used for conducting soil removing treatment on radishes and a smashing mechanism used for conducting smashing treatment on radish leaves, so that automatic and accurate harvesting of the radishes is achieved, the harvesting efficiency of the radishes is improved, damage caused by manual operation errors is avoided, food waste is avoided, and the labor intensity of workers is relieved. Therefore, the product quality and market competitiveness are improved, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of radish harvesting equipment, and in particular to a fully automatic radish harvester. Background Art

[0002] Radish is an important vegetable crop, and its production process includes land preparation, sowing, field management and harvesting. Among them, harvesting is the most labor-intensive and time-consuming process. However, behind the huge radish planting area and harvesting yield in my country is the backward mechanization level. Harvesting operations are basically done by manual or semi-automatic machinery, resulting in low harvesting efficiency, large labor demand and high labor intensity.

[0003] Radish harvester is a supporting device for collecting radishes. It is a machine that pulls radishes out of the vegetable garden, cuts off the stems and leaves and puts them into the storage part, which can better collect radishes. However, the traditional radish harvesters on the domestic market currently have the following problems: 1. The popularity rate is low, and they are all for large-scale open-air harvesting; 2. The machine size is relatively large, and it needs to cooperate with the box train to follow the harvest during operation, which is not suitable for greenhouse harvesting; 3. The use of rigid conveyor belts for harvesting may cause damage and missed harvesting of radishes when encountering irregular radishes; 4. During harvesting, the radish planting ridge spacing is not adjustable; 5. After the harvest is completed, the radish roots and stems cannot be processed, but simply piled on the surface of the land, affecting the planting of crops in the next season; 6. The soil on the surface of the radish also needs to be manually processed twice, which increases the cost of manual soil removal; 7. The harvester has only one harvesting arm, and the harvesting efficiency is low, which is not suitable for large-scale greenhouse harvesting.

[0004] With the continuous development of science and technology, people have higher and higher requirements for the manufacturing process of radish harvesters. For example, patent No. CN202410796494.2 discloses an automatic radish harvester, including a walking chassis device, and a radish pulling device, a radish leaf cutting device, a cleaning and protection device, and a radish storage and unloading device installed on the walking chassis device; the radish pulling device is provided with a pulling and transferring track arranged up and down, and the pulling and transferring track is used to pull radishes and transfer radishes to the radish leaf cutting device; the radish leaf cutting device is arranged on the transmission track of the pulling and transferring track, and the radish leaf cutting device is used to cut off the radish leaves to make the radish fall; the cleaning and protection device includes a cleaning elastic brush, a plurality of rotatable brush rollers and a cleaning drive unit, the cleaning elastic brush is fixedly arranged on the surface of the brush roller, and the plurality of brush rollers are transmission-connected to the cleaning drive unit, and the plurality of brush rollers are transmission-connected to the cleaning drive unit. The two harvesters are arranged relative to each other to form a buffer transfer track, which is arranged on the trajectory of the radish falling, and the outlet end of the buffer transfer track abuts against the radish storage and unloading device; the radish storage and unloading device stores and unloads radishes, but the harvester still has the following problems: 1. It is impossible to adjust according to the ridge spacing of radish planting during harvesting; 2. The radish leaf cutting device has a complex structure and is prone to cutting off the radishes; 3. When there are many radishes and the radishes are stacked on the buffer transfer track, it is inconvenient for the cleaning and protection device to clean the radishes stacked on the buffer transfer track; 4. The storage and unloading device cannot identify full load, and manual observation is required to determine whether to unload the radishes; 5. The radish leaves cannot be processed and are simply piled on the land surface, thus affecting the planting of crops in the next season. Summary of the invention

[0005] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art and to provide a fully automatic radish harvester.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows: a fully automatic radish harvester comprises a frame; A walking device, comprising a track wheel installed at the bottom of the frame, and a track is rotatably connected to the track wheel to drive the frame to move; The radish harvesting device comprises at least three groups of harvesting arm groups installed at the front end of the frame, the harvesting arm groups are provided with a spacing adjustment mechanism for adjusting the spacing between the harvesting arm groups and a harvesting angle adjustment mechanism for adjusting the angle of the harvesting arm groups; the front end of the harvesting arm groups is provided with a gathering piece for gathering the radish stems and leaves; A radish leaf cutting device, installed on the radish harvesting device and arranged away from the gathering member, for cutting and separating the radish leaf and the radish; The processing device comprises a separation box mounted on the frame and matched with the radish green cutting device, the separation box is provided with a radish receiving port and a radish green receiving port, the bottom of the separation box is provided with a transmission mechanism, and the output end of the transmission mechanism is provided with a soil removal mechanism for removing soil from the radish and a crushing mechanism for crushing the radish green; The collecting device comprises a collecting frame installed on the frame for collecting the radishes processed by the soil removing mechanism, a fourth driving mechanism for driving the collecting frame to unload the radishes is provided at the bottom of the collecting frame, a movable panel is rotatably provided on one side of the collecting frame, and a monitoring mechanism for monitoring the information collected by the collecting frame is installed on the collecting frame.

[0007] Furthermore, the spacing adjustment mechanism includes a stepper motor installed on the frame, and a screw slide is provided at the output end of the stepper motor. Taking the middle harvesting arm group as a reference, the harvesting arm groups on the left and right sides are moved left and right by controlling the screw slide by the stepper motor to adjust the spacing between the harvesting arm groups.

[0008] Furthermore, the harvesting arm group includes upper belt plates arranged in parallel with each other, a plurality of driving wheels and a flexible clamping conveyor belt connected to the driving wheels are provided below the upper belt plates, a lower belt plate matching the upper belt plate is provided below the driving wheels, and ends of the upper belt plate and the lower belt plate are installed between the gathering parts; the harvesting angle adjustment mechanism includes a first hydraulic cylinder installed at the bottom of the lower belt plate for adjusting the angle of the harvesting arm group, and a connecting shaft rotatably connected to the frame, the harvesting arm group is rotatably connected to the connecting shaft, and the first hydraulic cylinder of the middle harvesting arm group is located below the first hydraulic cylinders of the harvesting arm groups on the left and right sides.

[0009] Furthermore, the radish top cutting device is composed of two nested disc blades, which are respectively installed under the lower belt plate of each group of harvesting arms, and a connecting shaft is provided above them. The connecting shaft passes through the lower belt plate and is connected to the driving wheel and the upper belt plate.

[0010] Furthermore, the transmission mechanism includes a first conveying crawler matching the radish receiving port and a second conveying crawler matching the radish green receiving port, and the first conveying crawler and the second conveying crawler are arranged parallel to the frame; and the first conveying crawler and the second conveying crawler are respectively connected to a first driving mechanism and a second driving mechanism for driving the first conveying crawler and the second conveying crawler to move.

[0011] Furthermore, the first driving mechanism includes a first motor installed on the frame, a first rotating shaft is provided at the output end of the first motor, a first driving wheel is provided on the first rotating shaft, the first driving wheel is connected to a first driven wheel via a first belt, and the first driven wheel is connected to a second rotating shaft for driving the first conveying shoe to move; the second driving mechanism includes a second motor installed on the frame, a second rotating shaft is provided at the output end of the second motor, a second rotating shaft is provided with a second driving wheel, the second driving wheel is connected to a second driven wheel and a third driven wheel via a second belt and a third belt, and the second driven wheel is connected to a third rotating shaft for driving the second conveying shoe to move; the third driven wheel is connected to a fourth rotating shaft for driving the crushing mechanism to crush the radish leaves.

[0012] Furthermore, the crushing mechanism includes a crushing box corresponding to the second conveying crawler, a crushing tool is provided in the crushing box, and the crushing tool is connected to the fourth rotating shaft.

[0013] Furthermore, the soil removal mechanism includes a hollow drum installed on the frame corresponding to the first conveying crawler, a spiral sheet is installed in the hollow drum, and a third driving mechanism for driving the hollow drum to rotate is provided on the outside of the hollow drum, and the third driving mechanism includes a third motor, and a fifth rotating shaft is provided at the output end of the third motor, and a third driving wheel is provided at the output end of the fifth rotating shaft. The third driving wheel is connected to a fourth driven wheel through a fourth belt, and the fourth driven wheel is connected to a sixth rotating shaft. Main gears are respectively connected to both ends of the sixth rotating shaft, and the main gear meshes with teeth provided on the outside of the hollow drum.

[0014] Furthermore, the other side of the hollow drum is gear-engaged with a slave gear, and the slave gears include two, and a seventh rotating shaft is connected between the two slave gears.

[0015] Furthermore, the monitoring mechanism includes a camera, which is installed at the top of the collection frame away from the side of the movable panel; the fourth driving mechanism includes a fourth motor and a second hydraulic cylinder installed on the frame, and the other end of the second hydraulic cylinder is connected to the bottom of the collection frame; the output end of the fourth motor is provided with an eighth rotating shaft, the eighth rotating shaft is connected to a connecting member, the connecting member is connected to a connecting rod, the connecting rod is connected to a rotating member, the rotating member is connected to a ninth rotating shaft, and the ninth rotating shaft is connected to the bottom of the collection frame.

[0016] Compared with the prior art, the technical solution of this application has the following beneficial effects: 1. The present application sets at least three groups of harvesting arm groups, and sets a spacing adjustment mechanism on the harvesting arm groups for adjusting the spacing between the harvesting arm groups, so as to achieve precise harvesting by fine-tuning left and right to adapt to the ridge spacing based on the middle harvesting arm group, thereby effectively improving the harvesting efficiency; and the harvesting arm groups are equipped with flexible clamping conveyor belts, so as to adapt to radishes of irregular shapes and increase the clamping capacity of radishes.

[0017] 2. The present application provides a soil removal mechanism for removing soil from radishes. The soil removal mechanism is a spirally guided hollow drum, which can orderly shake off the soil attached to the surface of the radishes and collect the radishes, effectively solving the inconvenience caused by secondary treatment of the radishes due to soil attachment.

[0018] 3. The present application provides a crushing mechanism for crushing radish leaves. The crushing box of the crushing mechanism is equipped with a rotating blade to completely crush the stems and leaves, thereby avoiding manual secondary cleaning, saving labor costs, and allowing the soil to better decompose and convert into organic fertilizer for full utilization.

[0019] 4. This application installs a monitoring mechanism in the collection frame for visual identification. When the radishes in the collection box are full, the harvester stops harvesting and performs unloading operations, thereby realizing automated harvesting by the harvester and effectively reducing the workload of personnel.

[0020] 5. The harvester of the present application adopts vehicle-mounted collection, so it can be applied to greenhouses with small working areas and limited working space. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a fully automatic radish harvester in a preferred embodiment of the present invention; Figure 2 A side view of a fully automatic radish harvester in a preferred embodiment of the present invention; Figure 3 A top view of a fully automatic radish harvester in a preferred embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the harvesting arm group in a preferred embodiment of the present invention; Figure 5 It is a structural schematic diagram of a crushing mechanism in a preferred embodiment of the present invention; Figure 6 A bottom view of the crushing mechanism in a preferred embodiment of the present invention; Figure 7 It is a structural schematic diagram of the soil removal mechanism in the preferred embodiment of the present invention; Figure 8 It is a structural schematic diagram of the soil removal mechanism and the third driving mechanism in the preferred embodiment of the present invention; Fig. 9It is a schematic diagram of the structure of the collecting device and the fourth driving mechanism in the preferred embodiment of the present invention.

[0022] Reference numerals: 1, frame; 2. Walking device; 201. Track wheel; 202. Track; 3. Radish harvesting device; 4. Radish leaf cutting device; 401. Disc blade; 402. Connecting shaft; 5. Processing device; 501. Separation box; 502. Radish receiving port; 503. Radish green receiving port; 6. Collection device; 601. Collection frame; 602. Movable panel; 7. Harvesting arm group; 701. Upper belt plate; 702. Driving wheel; 703. Conveyor belt; 704. Lower belt plate; 8. Spacing adjustment mechanism; 9. Gathering pieces; 10. Transmission mechanism; 1001. First transmission crawler belt; 1002. Second transmission crawler belt; 11. Soil removal mechanism; 1101. Hollow drum; 1102. Spiral blade; 12. Crushing mechanism; 1201. Crushing box; 1202. Crushing tool; 13. Fourth driving mechanism; 1301. Fourth motor; 1302. Second hydraulic cylinder; 1303. Connecting rod; 1304. Rotating member; 1305. Connecting member; 14. Monitoring agencies; 15. Harvesting angle adjustment mechanism; 1501. First hydraulic cylinder; 1502. Connecting shaft; 16. First driving mechanism; 1601. First motor; 1602. First driving wheel; 1603. First belt; 1604. First driven wheel; 17. Second driving mechanism; 1701. Second motor; 1702. Second driving wheel; 1703. Second belt; 1704. Third belt; 1705. Second driven wheel; 1706. Third driven wheel; 18. Third driving mechanism; 1801. Third motor; 1802. Third driving wheel; 1803. Fourth belt; 1804. Fourth driven wheel; 1805. Main gear. DETAILED DESCRIPTION

[0023] The technical solutions in the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] Reference Figure 1-Figure 9As shown, a preferred embodiment of the present invention, a fully automatic radish harvester, comprises a frame 1; The walking device 2 includes a track wheel 201 installed at the bottom of the frame 1, and the track wheel 201 is rotatably connected to a track 202 for driving the frame 1 to move; The radish harvesting device 3 comprises at least three groups of harvesting arm groups 7 installed at the front end of the frame, the harvesting arm groups 7 are provided with a spacing adjustment mechanism 8 for adjusting the spacing between the harvesting arm groups, and a harvesting angle adjustment mechanism 15 for adjusting the angle of the harvesting arm groups 7, through which the harvesting arm groups are raised when the harvester is not in operation; the front end of the harvesting arm groups 7 is provided with a gathering member 9 for gathering the radish stems and leaves; A radish leaf cutting device 4 is installed on the radish harvesting device 3 and arranged away from the gathering member 9, and is used for cutting and separating the radish leaf and the radish; The processing device 5 comprises a separation box 501 mounted on the frame 1 and matched with the radish green cutting device 4, the separation box 501 is provided with a radish receiving port 502 and a radish green receiving port 503, the bottom of the separation box 501 is provided with a transmission mechanism 10, and the output end of the transmission mechanism 10 is provided with a soil removal mechanism 11 for removing soil from the radish and a crushing mechanism 12 for crushing the radish green; The collecting device 6 comprises a collecting frame 601 installed on the frame 1 for collecting the radishes processed by the soil removing mechanism 11, a fourth driving mechanism 13 is provided at the bottom of the collecting frame 601 for driving the collecting frame 601 to unload the radishes, a movable panel 602 is rotatably provided on one side of the collecting frame 601, and a monitoring mechanism 14 for monitoring the information collected by the collecting frame is installed on the collecting frame 601, so as to realize automatic and accurate harvesting of radishes, improve the harvesting efficiency of radishes, avoid damage caused by human operating errors, cause food waste, thereby improving product quality and market competitiveness, and reducing labor costs.

[0025] As a preferred embodiment of the present invention, it may also have the following additional technical features: the spacing adjustment mechanism 8 includes a stepper motor installed on the frame 1, and a screw slide is provided at the output end of the stepper motor. Taking the middle harvesting arm group 7 as a reference, the harvesting arm groups 7 on the left and right sides are moved left and right by the stepper motor to control the screw slide to adjust the spacing between the harvesting arm groups.

[0026] In this embodiment, the harvesting arm group 7 includes upper belt plates 701 arranged in parallel with each other, and a plurality of driving wheels 702 and a flexible clamping conveyor belt 703 connected to the driving wheels 702 are provided below the upper belt plates 701, and a lower belt plate 704 matching the upper belt plate 701 is provided below the driving wheels 702, and the ends of the upper belt plate 701 and the lower belt plate 704 are both installed between the gathering parts 8; the harvesting angle adjustment mechanism 15 includes a first hydraulic cylinder 1501 installed at the bottom of the lower belt plate 704 for adjusting the angle of the harvesting arm group 7, and a connecting shaft 1502 rotatably connected to the frame 1, the harvesting arm group 7 is rotatably connected to the connecting shaft 1502, and the first hydraulic cylinder of the harvesting arm group 7 in the middle is located below the first hydraulic cylinders of the harvesting arm group 7 on the left and right sides. Therefore, when the harvester is not in operation, the harvesting arm group 7 is in a raised state under the action of the harvesting angle adjustment mechanism 15. When it reaches the operating range, the harvesting arm group 7 is lowered under the cooperation of the first hydraulic cylinder 1501 and the rotating shaft 1502, and the camera (not shown in the figure) is identified, and the ridge spacing is adjusted through the lead screw nut to start harvesting. During harvesting, the gathering piece in front of the harvesting arm group 7 first gathers the carrot stems and leaves, and then the built-in clamping conveyor belt moves upward to generate a force along the conveyor belt direction to achieve the carrot pulling action, thereby improving the harvest rate of carrots.

[0027] At the same time, the harvester in this embodiment is also equipped with four panoramic cameras (not shown in the figure). The harvesting of the radish harvester can be observed through the four panoramic cameras and remotely controlled by humans, so as to prevent the machine from scratching against surrounding obstacles, and observe whether the machine fails during the harvesting process, and make timely repairs to improve the harvesting efficiency.

[0028] In this embodiment, the radish shaving device 4 is composed of two nested disc blades 401, which are respectively installed below the lower belt plate 704 of each harvesting arm group 7, and a connecting shaft 402 is provided above the lower belt plate 704, and the connecting shaft 402 passes through the lower belt plate 704 and is connected to the driving wheel 702 and the upper belt plate 702. At the same time, a driving motor (not shown in the figure) that drives the connecting shaft and the driving wheel to rotate is installed on the upper belt plate 702. Therefore, when the carrots are transported to the cutting position at the upper end of the harvesting arm, the motor drives the two nested disc blades to rotate and cut, so that the stems, leaves and fruits are separated.

[0029] In this embodiment, the transmission mechanism 10 includes a first conveying belt 1001 matching the radish receiving port 502 and a second conveying belt 1002 matching the radish leaf receiving port 503, and the first conveying belt 1001 and the second conveying belt 1002 are arranged parallel to the frame 1; and the first conveying belt 1001 and the second conveying belt 1002 are respectively connected to a first driving mechanism 16 and a second driving mechanism 17 for driving the first conveying belt 1001 and the second conveying belt 1002 to move.

[0030] The first driving mechanism 16 includes a first motor 1601 installed on the frame 1, and the output end of the first motor 1601 is provided with a first rotating shaft, and the first rotating shaft is provided with a first driving wheel 1602, the first driving wheel 1602 is connected to a first driven wheel 1604 through a first belt 1603, and the first driven wheel 1604 is connected to a second rotating shaft for driving the first conveying shoe 1001 to move; the second driving mechanism 17 includes a second motor 1701 installed on the frame, the output end of the second motor 1701 is provided with a second rotating shaft, and the second rotating shaft is provided with a second driving wheel 1702, the second driving wheel 1702 is connected to a second driven wheel 1705 and a third driven wheel 1706 through a second belt 1703 and a third belt 1704, and the second driven wheel 1705 is connected to a third rotating shaft for driving the second conveying shoe 1002 to move; the third driven wheel 1706 is connected to a fourth rotating shaft for driving the crushing mechanism 12 to crush the radish leaves. Thus, the radish and radish greens transmission process is achieved.

[0031] In this embodiment, the crushing mechanism 12 includes a crushing box 1201 corresponding to the second conveying crawler 1002, and a crushing tool 1202 is arranged in the crushing box 1201, and the crushing tool 1202 is connected to the fourth rotating shaft. Therefore, the radish leaves enter the crushing box through the second conveying crawler 1002, and the stems and leaves are crushed by the built-in rotating blades and fall into the soil, so that the soil is decomposed and converted into organic fertilizer, which is fully utilized, avoiding manual secondary cleaning and saving labor costs.

[0032] In this embodiment, the soil removal mechanism 11 includes a hollow drum 1101 installed on the frame 1 and corresponding to the first conveying shoe 1001, a spiral sheet 1102 is installed in the hollow drum 1101, and a third driving mechanism 18 for driving the hollow drum 1101 to rotate is provided on the outside of the hollow drum 1101, and the third driving mechanism 18 includes a third motor 1801, and the output end of the third motor 1801 is provided with a fifth rotating shaft, and the output end of the fifth rotating shaft is provided with a third driving wheel 1802, and the third driving wheel 1802 is connected to a fourth driven wheel 1804 through a fourth belt 1803, and the fourth driven wheel 1804 is connected to a sixth rotating shaft, and main gears 1805 are respectively connected to both ends of the sixth rotating shaft, and the main gear 1805 is meshed with the tooth pattern provided on the outside of the hollow drum 1101, and the other side of the hollow drum 1101 is meshed with a slave gear, and the slave gear includes two, and the seventh rotating shaft is connected between the two slave gears. Thus, the radish is de-soiled by the first conveying shoe 1001 through the roller, thereby solving the inconvenience caused by secondary processing due to the adhesion of mud to the radish.

[0033] In this embodiment, the monitoring mechanism 14 includes a camera, which is installed at the top of the collection frame 601 away from the side of the movable panel 602; the fourth driving mechanism 13 includes a fourth motor 1301 and a second hydraulic cylinder 1302 installed on the frame 1, and the other end of the second hydraulic cylinder 1302 is connected to the bottom 601 of the collection frame; the output end of the fourth motor 1301 is provided with an eighth rotating shaft, and the eighth rotating shaft is connected to a connecting member 1305, and the connecting member 1305 is connected to a connecting rod 1303, and the connecting rod 1303 is connected to a rotating member 1304, and the rotating member 1304 is connected to a ninth rotating shaft, and the ninth rotating shaft is connected to the bottom of the collection frame 601. Thus, the loading information of the radishes in the collection frame 601 is visually recognized by the camera, and when the radishes in the collection frame are fully loaded, the harvester stops harvesting and unloads through the fourth driving mechanism 13.

[0034] The working principle of the present invention is as follows: a control mechanism is installed on the frame of the harvester, and the control mechanism includes a power supply and a controller. The motor drives the crawler to complete the traveling action. The main operation part first gathers the carrot stems and leaves by the gathering piece 9 in front of the harvesting arm group 7, and then the built-in clamping conveyor belt moves upward to generate a force along the direction of the conveyor belt to realize the carrot pulling action; when the carrots are conveyed to the upper end of the harvesting arm group 7, the two nested disc blades 401 rotate to separate the stems and leaves from the fruits; the stems and leaves after separation fall into the separation box 501, and the upper layer enters the second conveying crawler 1002 after being collected by the upper layer and is conveyed to the crushing box 1201. The crushing box 1201 has a built-in free-style knife, which can quickly crush the stems and leaves under the drive of the motor. After crushing, the stems and leaves fall into the land, allowing the soil to be better decomposed and converted into organic fertilizer for full utilization.

[0035] The fruits are collected from the lower layer of the separation box 501 and then enter the first conveyor shoe 1001 to be conveyed to the drum-type soil removal mechanism 11 for soil removal. The soil removal mechanism 11 is drum-type and has a built-in filter. Finally, the fruits after soil removal fall into the collection frame, completing the entire radish harvesting process, realizing the automated operation of radish harvesting, improving radish harvesting efficiency, and reducing manual harvesting costs.

[0036] At the same time, when the harvester is not in operation, the harvesting arm group 7 is in a raised state under the action of the harvesting angle adjustment mechanism. When it reaches the operating range, the harvesting arm group 7 is lowered by the hydraulic device and identified by the camera. When the ridge widths are different, the lead screw nut is used to adjust the left and right, and then harvesting is started to achieve accurate harvesting of radishes.

[0037] Under the premise that no conflict occurs, those skilled in the art may freely combine and superimpose the above-mentioned additional technical features.

[0038] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. Fully automatic radish harvester, characterized by: Including rack; A walking device, comprising a track wheel installed at the bottom of the frame, and a track is rotatably connected to the track wheel to drive the frame to move; The radish harvesting device comprises at least three groups of harvesting arm groups installed at the front end of the frame, the harvesting arm groups are provided with a spacing adjustment mechanism for adjusting the spacing between the harvesting arm groups and a harvesting angle adjustment mechanism for adjusting the angle of the harvesting arm groups; the front end of the harvesting arm groups is provided with a gathering piece for gathering the radish stems and leaves; A radish leaf cutting device, installed on the radish harvesting device and arranged away from the gathering member, for cutting and separating the radish leaf and the radish; The processing device comprises a separation box mounted on the frame and matched with the radish green cutting device, the separation box is provided with a radish receiving port and a radish green receiving port, the bottom of the separation box is provided with a transmission mechanism, and the output end of the transmission mechanism is provided with a soil removal mechanism for removing soil from the radish and a crushing mechanism for crushing the radish green; The collecting device comprises a collecting frame installed on the frame for collecting the radishes processed by the soil removing mechanism, a fourth driving mechanism for driving the collecting frame to unload the radishes is provided at the bottom of the collecting frame, a movable panel is rotatably provided on one side of the collecting frame, and a monitoring mechanism for monitoring the information collected by the collecting frame is installed on the collecting frame.

2. The fully automatic radish harvester according to claim 1, characterized in that: The spacing adjustment mechanism includes a stepper motor installed on the frame, and a screw slide is provided at the output end of the stepper motor. Taking the middle harvesting arm group as a reference, the harvesting arm groups on the left and right sides are moved left and right by the stepper motor to control the screw slide to adjust the spacing between the harvesting arm groups.

3. The fully automatic radish harvester according to claim 2, characterized in that: The harvesting arm group includes upper belt plates arranged parallel to each other, and a plurality of driving wheels and a flexible clamping conveyor belt connected to the driving wheels are provided below the upper belt plates. A lower belt plate matching the upper belt plate is provided below the driving wheels, and the ends of the upper belt plate and the lower belt plate are installed between the gathering parts; the harvesting angle adjustment mechanism includes a first hydraulic cylinder installed at the bottom of the lower belt plate for adjusting the angle of the harvesting arm group, and a rotating connecting shaft rotatably connected to the frame, the harvesting arm group is rotatably connected to the connecting shaft, and the first hydraulic cylinder of the harvesting arm group in the middle is located below the first hydraulic cylinders of the harvesting arm groups on the left and right sides.

4. The fully automatic radish harvester according to claim 3, characterized in that: The radish top cutting device is composed of two nested disc blades, which are respectively installed under the lower belt plate of each group of harvesting arms, and a connecting shaft is provided above them. The connecting shaft passes through the lower belt plate and is connected to the driving wheel and the upper belt plate.

5. The fully automatic radish harvester according to claim 1, characterized in that: The transmission mechanism includes a first conveying crawler matching the radish receiving port and a second conveying crawler matching the radish green receiving port. The first conveying crawler and the second conveying crawler are arranged parallel to the frame; and the first conveying crawler and the second conveying crawler are respectively connected to a first driving mechanism and a second driving mechanism for driving the first conveying crawler and the second conveying crawler to move.

6. The fully automatic radish harvester according to claim 5, characterized in that: The first driving mechanism includes a first motor installed on the frame, a first rotating shaft is provided at the output end of the first motor, a first driving wheel is provided on the first rotating shaft, the first driving wheel is connected to a first driven wheel via a first belt, and the first driven wheel is connected to a second rotating shaft for driving the first conveying shoe to move; the second driving mechanism includes a second motor installed on the frame, a second rotating shaft is provided at the output end of the second motor, a second rotating shaft is provided with a second driving wheel, the second driving wheel is connected to a second driven wheel and a third driven wheel via a second belt and a third belt, and the second driven wheel is connected to a third rotating shaft for driving the second conveying shoe to move; the third driven wheel is connected to a fourth rotating shaft for driving the crushing mechanism to crush the radish leaves.

7. The fully automatic radish harvester according to claim 6, characterized in that: The pulverizing mechanism comprises a pulverizing box corresponding to the second conveying crawler, a pulverizing cutter is arranged in the pulverizing box, and the pulverizing cutter is connected to the fourth rotating shaft.

8. The fully automatic radish harvester according to claim 5, characterized in that: The soil removal mechanism includes a hollow drum installed on the frame and corresponding to the first conveying crawler, a spiral sheet is installed in the hollow drum, and a third driving mechanism for driving the hollow drum to rotate is provided on the outside of the hollow drum, and the third driving mechanism includes a third motor, and a fifth rotating shaft is provided at the output end of the third motor, and a third driving wheel is provided at the output end of the fifth rotating shaft. The third driving wheel is connected to a fourth driven wheel through a fourth belt, and a sixth rotating shaft is connected to the fourth driven wheel. Main gears are connected to both ends of the sixth rotating shaft, and the main gear meshes with teeth provided on the outside of the hollow drum.

9. The fully automatic radish harvester according to claim 8, characterized in that: The other side of the hollow drum is gear-connected with a slave gear, and the slave gears include two, and a seventh rotating shaft is connected between the two slave gears.

10. The fully automatic radish harvester according to claim 1, characterized in that: The monitoring mechanism includes a camera, which is installed at the top of the collection frame away from the side of the movable panel; the fourth driving mechanism includes a fourth motor and a second hydraulic cylinder installed on the frame, and the other end of the second hydraulic cylinder is connected to the bottom of the collection frame; the output end of the fourth motor is provided with an eighth rotating shaft, the eighth rotating shaft is connected to a connecting member, the connecting member is connected to a connecting rod, the connecting rod is connected to a rotating member, the rotating member is connected to a ninth rotating shaft, and the ninth rotating shaft is connected to the bottom of the collection frame.

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