Vegetable root cutting device and method

Abstract

The invention discloses a vegetable root cutting device and a vegetable root cutting method. The vegetable root cutting device comprises a rack; the crawler walking mechanism comprises at least two crawler walking parts which are respectively arranged on the two sides of the lower part of the rack; the at least two profiling mechanisms are arranged on the two sides of the rear portion of the rack respectively, each profiling mechanism is provided with a profiling plate and a connecting rod connected to the profiling plate, the profiling plates can be attached to the soil surface, and the vertical height of the connecting rods can be changed along with the change of the height of the soil surface; the at least two cutting mechanisms are respectively connected to the connecting rods of the profiling mechanisms, and each cutting mechanism is provided with a disc cutter; and the control device is arranged on the rack and is connected to the crawler walking mechanism and the cutting mechanism. The damage rate in the vegetable harvesting process can be reduced.

Description

Technical Field

[0001] The invention relates to an agricultural harvesting machine, and in particular to a device and method suitable for cutting vegetable roots. Background Art

[0002] Heading vegetables are a common herbaceous economic crop in life, including cabbage, lettuce and cabbage, etc. Taking cabbage as an example, it has high unit yield, good storage resistance, rich nutrition and economic value, so it also has a large planting area and huge consumption.

[0003] During the entire planting cycle, the harvesting of head vegetables accounts for 40% of the workload. The quality of the harvesting operation will directly affect the subsequent storage, processing and sales of vegetables, affecting the market price and the economic benefits of growers. In the existing technology, the harvesting of head vegetables has a low degree of mechanization, and the harvesting operation relies heavily on manual labor, resulting in high labor intensity and low harvesting efficiency. At the same time, due to the serious aging of the rural population, the surplus labor force cannot meet the needs of large-scale vegetable planting, and the traditional manual harvesting method needs to be changed urgently.

[0004] According to different harvesting methods, the existing head vegetable harvesting machinery can be divided into root cutting type, pulling type, pulling-root cutting combined type and other types.

[0005] Root-cutting harvesting machinery is generally used in the form of tractor suspension, using a disc cutter to cut the roots of vegetables. After the roots are cut, the vegetables are transported, packed, and collected by collective transportation. However, vegetable harvesting machinery has difficulty moving in complex field environments. When encountering undulating terrain or the machine is operating along a non-straight line, the height of the machine's cutting mechanism cannot be adjusted autonomously. Therefore, although root-cutting harvesting is easy to implement and the equipment structure is simple, it is easy to cut the vegetable body due to uneven surface factors, or cause the cutter to get stuck in the soil.

[0006] The pulling-type harvesting machinery is generally composed of a pulling device, a holding device, a harvesting device and a crawler chassis. The pulling device is used to separate the vegetables from the soil, and the vegetables are transported and concentrated by the holding device to complete the harvesting of the vegetables. However, the planting agronomy in different regions is different, which requires the harvesting machinery to have strong adaptability. If the harvesting machinery is designed for special planting agronomy, it may not be able to adapt well to the different planting agronomy in multiple regions. The pulling-type harvesting is mainly designed for the agronomy of Korean cabbage planting, so it cannot be widely used in the planting of other head vegetables.

[0007] The compound harvesting machinery is generally composed of a spiral mechanism, a clamping device, a root cutting device, etc. The spiral mechanism is used to pull out the vegetables, and the disc cutter is used to cut the roots of the vegetables, and the clamping device is used to transport and concentrate. The compound harvesting combines root cutting and extraction. The equipment structure is complex, and the working parameters of each device have high requirements for coordination. It is difficult to ensure the stability of clamping and cutting, and it is also difficult to achieve the harvesting requirements of high harvesting efficiency and low damage rate.

[0008] Therefore, there is still a lack of relatively mature, complete and advanced head vegetable harvesting machinery that can meet the needs of the head vegetable harvesting process. How to design a vegetable harvesting machinery that can overcome the defects in the prior art has become a problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0009] The object of the present invention is to provide a vegetable root cutting device and method, so as to reduce the damage rate during the vegetable harvesting process.

[0010] To achieve the above object, the present invention provides a vegetable root cutting device, comprising:

[0011] One rack;

[0012] A crawler walking mechanism, the crawler walking mechanism includes at least two crawler walking parts, which are respectively arranged on both sides of the lower side of the frame;

[0013] At least two profiling mechanisms are respectively arranged on both sides of the rear part of the frame, each of the profiling mechanisms has a profiling plate and a connecting rod connected to the profiling plate, the profiling plate can be attached to the soil surface and the vertical height of the connecting rod changes with the change of the soil surface height;

[0014] At least two cutting mechanisms, respectively connected to the connecting rod of each of the profiling mechanisms, each of the cutting mechanisms having a disc cutter; and

[0015] A control device is arranged on the frame and connected to the crawler walking mechanism and the cutting mechanism.

[0016] Wherein, each of the profiling mechanisms also includes a frame rod and two connecting rods, the frame rod is connected to the frame, the two connecting rods are parallel to each other and have the same length, one end of each of the two connecting rods is rotatably connected to the frame rod, and the other end of each of the two connecting rods is rotatably connected to the connecting rod. The frame rod, the two connecting rods and the connecting rod constitute a parallelogram connecting rod mechanism.

[0017] The frame rod comprises a horizontal rod portion and a vertical rod portion vertically connected to one end of the horizontal rod portion, one end of the two connecting rods is respectively rotatably connected to the vertical rod portion, and the vertical rod portion, the two connecting rods and the connecting rod constitute the parallelogram linkage mechanism.

[0018] Among them, each of the profiling mechanisms also includes two first connecting rods, one end of the two first connecting rods is rotatably connected to the two connecting rods, and the other end is fixed to the connecting rods. The two first connecting rods are parallel to each other and perpendicular to the connecting rods, and the parallel interval between the two first connecting rods is consistent with the two connecting rods.

[0019] Each of the contour-matching mechanisms further comprises a telescopic portion, one end of which is connected to the frame rod and the other end is connected to the lower portion of the connecting rod. The control device is electrically connected to the telescopic portion and can adjust its telescopic length.

[0020] Each of the contour-matching mechanisms further includes a spring mechanism, and the other end of the telescopic portion is connected to the lower portion of the connecting rod through the spring mechanism.

[0021] Each of the profiling mechanisms also includes a second connecting rod and a third connecting rod, wherein the rear end of the second connecting rod is connected to the lower part of the connecting rod, and the front end extends away from the disc cutter. The upper end of the third connecting rod is connected to the second connecting rod, and the lower end is connected to the profiling plate.

[0022] The disc cutter is located at the rear side of the profiling plate, and the front end of the profiling plate is in a tilted shape.

[0023] Among them, each cutting mechanism also includes a cutting shaft and a first driving part. The cutting mechanisms on both sides are connected to the connecting rod of the profiling mechanism through a cutting mechanism connecting frame. The first driving part is electrically connected to the control device. The cutting shaft is connected between the first driving part and the disc cutter, and the disc cutter, the cutting shaft and the first driving part are arranged on the cutting mechanism connecting frame.

[0024] Each of the cutting mechanisms further comprises a cutter shaft bracket, the cutter shaft bracket is connected to the cutting mechanism connecting frame, and the first driving part and the cutter shaft are connected to the cutter shaft bracket.

[0025] Each of the cutting mechanisms further comprises a bearing seat connected to the lower portion of the cutter shaft bracket, the first driving portion is arranged on the upper portion of the cutter shaft bracket, one end of the cutter shaft is connected to the first driving portion, and the other end passes through the bearing seat and is connected to the disc cutter.

[0026] Among them, the cutting mechanism connecting frame has multiple slide grooves, and the cutter shaft bracket has multiple protrusions, the protrusions correspond to the positions of the slide grooves, and the protrusions can slide in the slide grooves and be fixed at different positions. When the protrusions slide in the slide grooves, the relative angle between the two cutter shafts can be changed.

[0027] Among them, each cutting mechanism also includes a connecting plate, one side of the connecting plate is rotatably connected to the connecting rod, and the other side has multiple installation positions. The cutting mechanism connecting frame can be rotatably connected to the connecting plate at any of the installation positions and can be switched among the multiple installation positions. The upper end of the cutting mechanism connecting frame is rotatably connected to the connecting rod.

[0028] The crawler walking mechanism further includes a second driving part, which is arranged on the frame and connected to the two crawler walking parts.

[0029] The present invention also provides a vegetable root cutting method, which uses the vegetable root cutting device as described above and comprises the following steps:

[0030] 1) According to the planting agronomy of the vegetables to be harvested, the profiling mechanism is adjusted so that the profiling plate contacts the soil surface and applies a certain pressure to the soil surface, so that the profiling mechanism has a soil profiling function; according to the planting density and the number of planting rows, the angle of the cutting mechanism and the outward inclination angle of the disc cutter are adjusted so that the cutting angle of the disc cutter is suitable for the current cutting and harvesting operation;

[0031] 2) The crawler walking mechanism moves forward, driving the profiling mechanism and the cutting mechanism to move forward, and the disc cutter performs counter-rotating motion to cut the roots of the vegetables to be harvested;

[0032] 3) During the forward movement, the profiling plate is in close contact with the soil surface, and the height of the profiling mechanism is adaptively adjusted according to the change of soil height, thereby adjusting the height of the cutting mechanism to ensure that the root cutting height is consistent during the harvesting process; and

[0033] 4) The disc cutter of the cutting mechanism rotates to shear the roots of the vegetables to be harvested, separating the vegetables to be harvested from the soil. At the same time, the vegetables after root cutting are thrown backwards as the disc cutter rotates to avoid repeated cutting and complete the harvesting work.

[0034] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the overall structure of a vegetable root cutting device provided by a preferred embodiment of the present invention (front view);

[0036] Figure 2 A schematic diagram (axonometric diagram) of the overall structure of a vegetable root cutting device provided by a preferred embodiment of the present invention;

[0037] Figure 3 A schematic diagram of a profiling mechanism in a vegetable root cutting device provided in a preferred embodiment of the present invention;

[0038] Figure 4A schematic diagram of a cutting mechanism in a vegetable root cutting device provided in a preferred embodiment of the present invention;

[0039] Figure 5 A schematic diagram of the combination of a profiling mechanism and a cutting mechanism in a vegetable root cutting device provided by a preferred embodiment of the present invention;

[0040] Figure 6 A schematic diagram (front view) showing that a projection of a cutter shaft support in a vegetable root cutting device provided by a preferred embodiment of the present invention slides along a slide groove of a cutting mechanism connecting frame to rotate the cutter shaft to a vertical state;

[0041] Figure 7 A schematic diagram (axonometric diagram) showing that a projection of a cutter shaft support in a vegetable root cutting device provided by a preferred embodiment of the present invention slides along a slide groove of a cutting mechanism connecting frame to rotate the cutter shaft to a vertical state;

[0042] Figure 8 A schematic diagram (front view) showing that a projection of a cutter shaft support in a vegetable root cutting device provided by a preferred embodiment of the present invention slides along a slide groove of a cutting mechanism connecting frame to rotate the cutter shaft to an inclined state;

[0043] Fig. 9 A schematic diagram (axonometric diagram) showing that a projection of a cutter shaft support in a vegetable root cutting device provided by a preferred embodiment of the present invention slides along a slide groove of a cutting mechanism connecting frame to rotate the cutter shaft to an inclined state;

[0044] Fig.10 A schematic diagram showing the relationship between the height variation and the forward extension of the profiling mechanism in a vegetable root cutting device provided by a preferred embodiment of the present invention;

[0045] Fig.11 A schematic diagram showing the relationship between the length of the telescopic portion and the horizontal angle in a vegetable root cutting device provided in a preferred embodiment of the present invention;

[0046] Fig.12 A schematic diagram of the installation length of the connecting plate when the connecting frame of the cutting mechanism is parallel to the connecting rod in a vegetable root cutting device provided by a preferred embodiment of the present invention;

[0047] Fig.13 A schematic diagram of the installation length of the connecting plate when the angle between the connecting frame of the cutting mechanism and the connecting rod is σ in a vegetable root cutting device provided by a preferred embodiment of the present invention;

[0048] Wherein, the reference numerals are:

[0049] 1: crawler walking mechanism

[0050] 2: Rack

[0051] 3: Profiling mechanism

[0052] 4: Cutting structure

[0053] 5: Rack rod

[0054] 51: Horizontal rod

[0055] 52: Vertical rod

[0056] 6: Connecting rod

[0057] 7: Profiling board

[0058] 71: Second connecting rod

[0059] 72: Third connecting rod

[0060] 8: Spring mechanism

[0061] 9: Connecting rod

[0062] 91: First connecting rod

[0063] 10: Telescopic part

[0064] 11: Cutting mechanism connecting frame

[0065] 111: Chute

[0066] 12: Connecting plate

[0067] 13: Disc cutter

[0068] 14: Bearing seat

[0069] 15: Cutter shaft

[0070] 16: Cutter shaft bracket

[0071] 161: Bump

[0072] 17: First drive unit DETAILED DESCRIPTION

[0073] In order to clearly explain the technical features of the present invention so that those skilled in the art can clearly understand the structure, features, usage and technical effects of the present invention, the scheme of the present invention is described below through specific implementation methods and in conjunction with the accompanying drawings. However, the following is only for illustrative purposes and is not intended to limit the present invention.

[0074] Please refer to Figures 1 to 5 . Figure 1 This is a schematic diagram of the overall structure of a vegetable root cutting device provided by a preferred embodiment of the present invention (front view); Figure 2 A schematic diagram (axonometric diagram) of the overall structure of a vegetable root cutting device provided by a preferred embodiment of the present invention; Figure 3 A schematic diagram of a profiling mechanism in a vegetable root cutting device provided in a preferred embodiment of the present invention; Figure 4A schematic diagram of a cutting mechanism in a vegetable root cutting device provided in a preferred embodiment of the present invention; Figure 5 A schematic diagram of the combination of a profiling mechanism and a cutting mechanism in a vegetable root cutting device provided in a preferred embodiment of the present invention.

[0075] The present invention provides a vegetable root cutting device, comprising a crawler walking mechanism 1, a frame 2, at least two profiling mechanisms 3, at least two cutting mechanisms 4 and a control device. The crawler walking mechanism 1 comprises at least two crawler walking parts, which are respectively arranged on both sides below the frame 2; the at least two profiling mechanisms 3 are respectively arranged on both sides of the rear part of the frame 1, each of the profiling mechanisms 3 has a profiling plate 7 and a connecting rod 9 connected to the profiling plate 7, the profiling plate 7 can be attached to the soil surface and change the vertical height of the connecting rod 9 as the height of the soil surface changes; the at least two cutting mechanisms 4 are respectively connected to the connecting rod 9 of each profiling mechanism 3, and each of the cutting mechanisms has a disc cutter 13; the control device is arranged on the frame 2, and connected to the crawler walking mechanism 1 and the cutting mechanism 4.

[0076] The crawler walking mechanism 1 is connected to the frame 2, and the vegetable root cutting device can realize self-propelled equipment in complex field environments through the crawler walking mechanism 1.

[0077] The crawler walking mechanism 1 also includes a second driving part, which is arranged on the frame 2 and connected to the two crawler walking parts. The second driving part drives the two crawler walking parts to rotate, thereby realizing the self-propelled movement of the equipment. The second driving part can be a driving motor.

[0078] The control device is installed inside the frame 2 and is connected to the crawler traveling mechanism 1 and the cutting mechanism 4 to adjust the crawler speed of the crawler traveling mechanism 1 and the speed of the disc cutter 13 of the cutting mechanism 4 in real time.

[0079] Each of the profiling mechanisms 3 further includes a frame rod 5 and two connecting rods 6. The frame rod 5 is connected to the frame 2. The two connecting rods 6 are parallel to each other and have the same length. One end of each connecting rod is rotatably connected to the frame rod 5 and the other end is rotatably connected to the connecting rod 9. The frame rod 5, the two connecting rods 6 and the connecting rod 9 form a parallelogram connecting rod mechanism. At the same time, the connecting rod 9 always remains vertical during the harvesting operation, thereby providing stable support for the cutting mechanism 4.

[0080] The frame rod 5 includes a horizontal rod portion 51 and a vertical rod portion 52 vertically connected to one end of the horizontal rod portion 51. One end of the second connecting rod 6 is respectively rotatably connected to the vertical rod portion 52. The vertical rod portion 52, the second connecting rod 6 and the connecting rod 9 constitute the parallelogram connecting rod mechanism. Preferably, the second connecting rod 6 and the vertical rod portion 52, and the second connecting rod 6 and the connecting rod 9 are rotatably connected through a shaft pin.

[0081] Please refer to Fig.10 . Fig.10 A schematic diagram of the relationship between the height change and the forward extension of the profiling mechanism in a vegetable root cutting device provided in a preferred embodiment of the present invention.

[0082] The equations for the height change and the forward extension of the end of the profiling mechanism 3 are:

[0083]

[0084] Among them, y1 is the height change of the end of the profiling mechanism 3, y2 is the extension of the profiling mechanism 3, l is the length of the connecting rod 6 of the profiling mechanism 3, and θ is the angle between the connecting rod 6 of the profiling mechanism 3 and the horizontal direction. Specifically, the height change of the end of the profiling mechanism 3 is the height change of the connecting rod 6 connected to the end of the connecting rod 9; the extension of the profiling mechanism 3 is the extension length change of the connecting rod 6 connected to the end of the connecting rod 9.

[0085] Each of the profiling mechanisms 3 further includes two first connecting rods 91, one end of the two first connecting rods 91 is respectively rotatably connected to the two connecting rods 6, and the other end is respectively fixed to the connecting rod 9, the two first connecting rods 91 are parallel to each other and respectively perpendicular to the connecting rod 9, and the parallel interval between the two first connecting rods 91 is consistent with the two connecting rods 6. Preferably, one end of the two first connecting rods 91 is rotatably connected to the other end of the two connecting rods 6 (that is, the end of the two connecting rods 6 away from the vertical rod portion 52 of the frame rod 5) through an axle pin.

[0086] Each of the contouring mechanisms 3 also includes a telescopic portion 10, one end of which is connected to the frame rod 5, and the other end is connected to the lower part of the connecting rod 9. The control device is electrically connected to the telescopic portion 10 and can adjust its telescopic length. The telescopic portion 10 can be an electric cylinder. Preferably, one end of the telescopic portion 10 is the other end of the horizontal rod 51 that is rotatably connected to the frame rod 5 (that is, the end of the horizontal rod 51 away from the vertical rod 52). Before the harvesting operation begins, the telescopic length of the telescopic portion 10 can be pre-adjusted by the control device, thereby adjusting the height of the connecting rod 9, thereby achieving the height pre-adjustment of the disc cutter 13 at the end of the cutting mechanism 4, and accurately controlling the root cutting height.

[0087] Please refer to Fig.11 . Fig.11 A schematic diagram of the relationship between the length of the telescopic portion and the horizontal angle in a vegetable root cutting device provided in a preferred embodiment of the present invention.

[0088] The length and angle equation of the telescopic portion 10 is:

[0089]

[0090] Wherein, x is the length of the telescopic portion 10, x0 is the length of the telescopic portion 10 when the connecting rod 6 is in a horizontal state, is the angle between the telescopic portion 10 and the horizontal direction, It is the angle between the telescopic portion 10 and the horizontal direction when the connecting rod 6 is in a horizontal state.

[0091] Through the above-mentioned equations of the height change and the forward extension of the end of the profiling mechanism 3, and the length and angle equation of the telescopic part 10, the relationship between the height change of the end of the profiling mechanism 3 and the length of the telescopic part 10 can be solved:

[0092]

[0093] Based on the relationship between the height change y1 of the end of the profiling mechanism 3 and the length x of the telescopic portion 10, the present invention can control the height change of the end of the profiling mechanism 3 by adjusting the length of the telescopic portion 10. In other words, the present invention can adjust the cutting height of the disc cutter 13 by controlling the telescopic change of the telescopic portion 10, thereby achieving precise root cutting.

[0094] Each of the profiling mechanisms 3 further includes a spring mechanism 8, and the other end of the telescopic portion 10 is connected to the lower portion of the connecting rod 9 through the spring mechanism 8. The spring mechanism 8 is a tension spring, which is connected between the telescopic portion 10 and the connecting rod 9. The spring mechanism provides partial tension for the profiling mechanism 3 to reduce the pressure of the profiling mechanism 3 on the soil and improve the sensitivity of the profiling mechanism 3 to the undulating soil, so that the profiling plate 7 is close to the soil surface and the cutting height is adjusted adaptively.

[0095] Each of the profiling mechanisms 3 further includes a second connecting rod 71 and a third connecting rod 72, wherein the rear end of the second connecting rod 71 is connected to the lower part of the connecting rod 9, and the front end extends in a direction away from the disc cutter 13, and the upper end of the third connecting rod 72 is connected to the second connecting rod 71, and the lower end is connected to the profiling plate 7. The profiling plate 7 is fixedly connected to the connecting rod 9 through the second connecting rod 71 and the third connecting rod 72.

[0096] The disc cutter 13 is located at the rear side of the profiling plate 7, and the front end of the profiling plate 7 is tilted. The profiling plate 7 of the profiling mechanism 3 is in direct contact with the soil during the harvesting operation, and its front end is slightly tilted to ensure that it does not penetrate into the soil during the forward movement. Through the contact between the profiling plate 7 and the soil, the profiling mechanism 3 can instantly adjust the height of the connecting rod 9 to achieve the height adaptive adjustment of the cutting mechanism 4, so that it can adapt to the undulating soil surface and ensure the consistent root cutting height.

[0097] The profiling mechanism 3 of the present invention is connected to the frame 2 on one side and to the cutting mechanism 4 on the other side, and its function is to cope with the undulating soil surface, so that the cutting mechanism 4 can still achieve accurate cutting of vegetable roots when the soil surface is undulating. Under the action of the parallelogram linkage mechanism of the profiling mechanism 3, the connecting rod 9 can drive the cutting mechanism 4 to change its height: on the one hand, the connecting rod 9 can change its height with the expansion and contraction of the telescopic part 10, thereby realizing active height adjustment of the profiling plate 7 and the cutting mechanism 4; on the other hand, the connecting rod 9 can also change its height with the ups and downs of the profiling plate 7, thereby realizing adaptive height adjustment of the cutting mechanism 4.

[0098] When the vegetable root cutting device is started to begin the harvesting operation, the telescopic part 10 is first driven by the control device to drive the connecting rod 9 to descend, and then the contoured plate 7 is linked to descend until it is close to the soil surface. At this time, the cutting mechanism 4 is also driven to descend so that the disc cutter 13 can accurately cut the roots of the head vegetables.

[0099] During the harvesting operation, the contoured plate 7 can drive the connecting rod 9 to change height as the soil surface rises and falls, thereby realizing the adaptive height adjustment of the cutting mechanism 4. Therefore, during the harvesting operation, the cutting mechanism 4 can still change height in real time and accurately cut the roots of the head vegetables, thereby reducing harvest damage and improving harvest quality.

[0100] After the harvesting operation is completed, the control device can also adjust the telescopic part 10 to retract, drive the connecting rod 9 to rise, and then drive the disc cutter 13 at the end of the cutting mechanism 4 to rise, so as to facilitate the transfer of the vegetable root cutting device in the field.

[0101] Each of the cutting mechanisms 4 further includes a cutting shaft 15 and a first driving unit 17. The cutting mechanisms 4 on both sides are connected to the connecting rod 9 of the profiling mechanism 3 through a cutting mechanism connecting frame 11. The first driving unit 17 is electrically connected to the control device. The cutting shaft 15 is connected between the first driving unit 17 and the disc cutter 13, and the disc cutter 13, the cutting shaft 15 and the first driving unit 17 are arranged on the cutting mechanism connecting frame 11.

[0102] The first drive unit 17 is used to provide cutting power, and the rotation speed of the first drive unit 17 is adjusted in real time by the control device to achieve the rotation speed adjustment of the disc cutter 13. The first drive unit 17 can be a drive motor. The cutter shaft 15 is connected to the first drive unit 17 to transmit the output torque of the first drive unit 17 to the disc cutter 13, driving the disc cutter 13 to rotate and cut to complete the harvest. The disc cutter 13 is connected to the cutter shaft 15, and the edge of the disc cutter 13 is a smooth curve. This form of disc cutter has the lowest power consumption during high-speed cutting operations, and can achieve low-consumption, high-efficiency, and low-loss root cutting functions.

[0103] Each of the cutting mechanisms 4 further includes a cutter shaft bracket 16 . The cutter shaft bracket 16 is connected to the cutting mechanism connecting frame 11 . The first driving portion 17 and the cutter shaft 15 are connected to the cutter shaft bracket 16 .

[0104] Each cutting mechanism 4 further includes a bearing seat 14 connected to the lower part of the cutter shaft bracket 16, the first driving part 17 is arranged on the upper part of the cutter shaft bracket 16, one end of the cutter shaft 15 is connected to the first driving part 17, and the other end passes through the bearing seat 14 and is connected to the disc cutter 13. The bearing seat 14 can limit the abnormal movement of the cutter shaft 15 caused by the assembly accuracy, reduce vibration and provide axial support, so as to realize the axial fixation of the cutter shaft 15.

[0105] Please refer to Figures 6 to 9 . Figure 6 A schematic diagram (front view) showing that a projection of a cutter shaft support in a vegetable root cutting device provided by a preferred embodiment of the present invention slides along a slide groove of a cutting mechanism connecting frame to rotate the cutter shaft to a vertical state; Figure 7 A schematic diagram (axonometric diagram) showing that a projection of a cutter shaft support in a vegetable root cutting device provided by a preferred embodiment of the present invention slides along a slide groove of a cutting mechanism connecting frame to rotate the cutter shaft to a vertical state; Figure 8 A schematic diagram (front view) showing that a projection of a cutter shaft support in a vegetable root cutting device provided by a preferred embodiment of the present invention slides along a slide groove of a cutting mechanism connecting frame to rotate the cutter shaft to an inclined state; Fig. 9 A schematic diagram (axonometric view) showing a projection of a cutter shaft support in a vegetable root cutting device provided in a preferred embodiment of the present invention sliding along a slide groove of a cutting mechanism connecting frame to rotate the cutter shaft to an inclined state.

[0106] The cutting mechanism connecting frame 11 has a plurality of slide grooves 111, and the cutter shaft bracket 16 has a plurality of protrusions 161, the protrusions 161 correspond to the positions of the slide grooves 111, and the protrusions 161 can slide in the slide grooves 111 and be fixed at different positions. When the protrusions 161 slide in the slide grooves 111, the relative angle between the two cutter shafts 15 can be changed. The cutter shaft bracket 16 is used to support and fix the first driving part 17 and the cutter shaft 15, and the relative angle of the two cutter shafts 15 can be adjusted by the sliding and fixing action between the protrusions 161 and the slide grooves 111, so as to achieve the purpose of changing the cutting angle of the disc cutter 13 at its end in the left and right direction (also referred to as the width direction of the whole device). For example, the two cutter shafts 15 are both vertical in the initial state, and after sliding the protrusions 161 to change the position in the slide grooves 111 and fix it, the two cutter shafts 15 can be made to tilt inward at the top.

[0107] Each of the cutting mechanisms 4 further includes a connecting plate 12, one side of the connecting plate 12 is rotatably connected to the connecting rod 9, and the other side has a plurality of mounting positions. The cutting mechanism connecting frame 11 can be rotatably connected to the connecting plate 12 at any of the mounting positions, and can be switched among the plurality of mounting positions. The upper end of the cutting mechanism connecting frame 11 is rotatably connected to the connecting rod 9. Preferably, the plurality of mounting positions are a plurality of circular holes, and the connecting plate 12 and the connecting rod 9, the connecting plate 12 and the cutting mechanism connecting frame 11, and the connecting rod 9 and the cutting mechanism connecting frame 11 can all be rotatably connected by axle pins, and the connection points respectively form a first connection point, a second connection point, and a third connection point. By selecting different mounting positions on the connecting plate 12, the angle between the cutting mechanism connecting frame 11 and the connecting rod 9 can be adjusted. For example, when the installation position in the middle of the connecting plate 12 is selected, the connecting rod 9 and the cutting mechanism connecting frame 11 are parallel to each other; when the installation position at the end of the connecting plate 12 is selected, the cutting mechanism connecting frame 11 is tilted toward the rear as a whole, so as to achieve the purpose of adjusting the cutting angle of the disc cutter 13 in the front-to-back direction (also referred to as the length direction of the overall device).

[0108] Please refer to Figure 12 to Figure 13 . Fig.12 A schematic diagram of the installation length of the connecting plate when the connecting frame of the cutting mechanism is parallel to the connecting rod in a vegetable root cutting device provided by a preferred embodiment of the present invention; Fig.13 A schematic diagram of the installation length of the connecting plate when the angle between the cutting mechanism connecting frame and the connecting rod is σ in a vegetable root cutting device provided by a preferred embodiment of the present invention.

[0109] The installation length of the connecting plate 12 and the angle equation between the cutting mechanism connecting frame 11 and the connecting rod 9 are:

[0110]

[0111] Among them, S is the installation length of the connecting plate 12, σ is the angle between the cutting mechanism connecting frame 11 and the connecting rod 9, l' is the length from the first connecting point (the connecting point between the connecting plate 12 and the connecting rod 9) to the third connecting point (the connecting point between the connecting rod 9 and the cutting mechanism connecting frame 11), and σ0 is the vertex angle of the isosceles triangle formed by the three connecting points (the three connecting points between the connecting plate 12 and the connecting rod 9, between the connecting plate 12 and the cutting mechanism connecting frame 11, and between the connecting rod 9 and the cutting mechanism connecting frame 11) when the cutting mechanism connecting frame 11 is parallel to the connecting rod 9.

[0112] The cutting mechanism 4 of the present invention is connected to the profiling mechanism 3, and each of the cutting mechanisms 4 includes an independent disc cutter 13, a cutter shaft 15 and a first driving unit 17 (such as a driving motor). The cutting mechanism 4 can be adjusted in height along with the profiling mechanism 3, and can also be adjusted in overall angle and relative to the two cutter shafts 15. Specifically, the cutting mechanism 4 can achieve angle adjustment in the front-to-back direction, so that the two disc cutters 13 are horizontal to the soil surface or lifted to the rear; the cutting mechanism 4 can also achieve angle adjustment in the left-to-right direction, so that the two disc cutters 13 are parallel to the soil surface or tilted to the outside. Therefore, by adjusting the height and tilt angle of the cutting mechanism 4, the disc cutter 13 has different cutting angles, so that it can adapt to the harvesting needs of different types of head vegetables in a variety of working environments, and achieve precise root cutting and harvesting.

[0113] The present invention also provides a vegetable root cutting method, which uses the vegetable root cutting device as described above and comprises the following steps:

[0114] 1) According to the planting agronomy of the vegetables to be harvested, the profiling mechanism 3 is adjusted so that the profiling plate 7 contacts the soil surface and applies a certain pressure to the soil surface, so that the profiling mechanism 3 has a soil profiling function; according to the planting density and the number of planting rows, the angle of the cutting mechanism 4 and the outward inclination angle of the disc cutter 13 are adjusted so that the cutting angle of the disc cutter 13 is suitable for the current cutting and harvesting operation;

[0115] The vegetables to be harvested are head vegetables, and the planting technique is flat cultivation or ridge cultivation; the profiling plate 7 is made to contact the soil surface by adjusting the extension amount of the telescopic part 10 (such as an electric cylinder) of the profiling mechanism 3, so that the profiling mechanism 3 has a soil height profiling function; the angle of the cutting mechanism 4 being lifted backward as a whole is adjusted by adjusting the installation position of the connecting plate 12 of the cutting mechanism 4, and the angle of the disc cutter 13 being tilted outward is adjusted by adjusting the relative angle of the two cutter shafts 15 of the cutting mechanism 4, thereby determining the best cutting angle of the disc cutter 13, so that it can achieve multi-row high-efficiency and low-loss harvesting;

[0116] 2) The crawler walking mechanism 1 moves forward, driving the profiling mechanism 3 and the cutting mechanism 4 to move forward, and the disc cutter 13 performs counter-rotating motion to cut the roots of the vegetables to be harvested;

[0117] The first driving unit 17 (such as a driving motor) drives the cutter shaft 15 and the disc cutter 13 to rotate, so that the two disc cutters 13 rotate in opposite directions to cut the roots of the vegetables to be harvested.

[0118] 3) During the forward movement, the profiling plate 7 is in close contact with the soil surface, and the height of the profiling mechanism 3 is adaptively adjusted according to the change in soil height, thereby adjusting the height of the cutting mechanism 4 to ensure that the root cutting height is consistent during the harvesting process; and

[0119] 4) The disc cutter 13 of the cutting mechanism 4 rotates to shear the roots of the vegetables to be harvested, separating the vegetables to be harvested from the soil. At the same time, the vegetables after root cutting are thrown backwards as the disc cutter 13 rotates, avoiding repeated cutting and completing the harvesting work.

[0120] Compared with the prior art, the present invention has at least the following significant technical advantages:

[0121] 1) The vegetable root cutting device provided by the present invention is a multi-row continuous adaptive profiling precision root cutting device, which can be applied to the field harvesting process of head vegetables and can adapt to various related vegetables under different cultivation agronomy.

[0122] 2) The vegetable root cutting device provided by the present invention has multiple technical effects: on the one hand, the cutting height can be controlled in real time through the profiling mechanism; on the other hand, the cutting mechanism angle can be appropriately adjusted according to the planting process and planting density to ensure that the root cutting angle is appropriate; on the other hand, the number and stiffness of the spring mechanism in the profiling mechanism can be appropriately increased or decreased according to the planting soil to adapt to different soils and planting depths. Therefore, the present invention can greatly improve the harvesting efficiency, effectively reduce the harvesting damage, and ensure the quality of the harvest.

[0123] 3) The vegetable root cutting device provided by the present invention can effectively solve the problems of high labor intensity and high operation cost in the conventional manual harvesting process, and effectively improve the harvesting performance and the degree of automation.

[0124] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field may make various corresponding changes and deformations based on the present invention, but these corresponding changes and deformations should all fall within the scope of protection of the claims of the present invention.

Claims

1. A vegetable root cutting device, characterized in that: include: One rack; A crawler walking mechanism, the crawler walking mechanism includes at least two crawler walking parts, which are respectively arranged on both sides of the lower side of the frame; At least two profiling mechanisms are respectively arranged on both sides of the rear part of the frame, each of the profiling mechanisms has a profiling plate and a connecting rod connected to the profiling plate, the profiling plate can be attached to the soil surface and the vertical height of the connecting rod changes with the change of the soil surface height; At least two cutting mechanisms, respectively connected to the connecting rod of each of the profiling mechanisms, each of the cutting mechanisms having a disc cutter; and A control device is arranged on the frame and connected to the crawler walking mechanism and the cutting mechanism.

2. The vegetable root cutting device according to claim 1, characterized in that: Each of the contour-matching mechanisms further comprises a frame rod and two connecting rods, wherein the frame rod is connected to the frame, the two connecting rods are parallel to each other and have the same length, one end of each of the two connecting rods is respectively rotatably connected to the frame rod, and the other end of each of the two connecting rods is respectively rotatably connected to the connecting rod, and the frame rod, the two connecting rods and the connecting rod constitute a parallelogram connecting rod mechanism.

3. The vegetable root cutting device according to claim 2, characterized in that: The frame rod comprises a horizontal rod portion and a vertical rod portion vertically connected to one end of the horizontal rod portion. One end of the two connecting rods is respectively rotatably connected to the vertical rod portion. The vertical rod portion, the two connecting rods and the connecting rod constitute the parallelogram connecting rod mechanism.

4. The vegetable root cutting device according to claim 2, characterized in that: Each of the contour-matching mechanisms further comprises two first connecting rods, one end of the two first connecting rods being rotatably connected to the two connecting rods and the other end being fixed to the connecting rods. The two first connecting rods are parallel to each other and perpendicular to the connecting rods respectively, and the parallel interval between the two first connecting rods is consistent with the two connecting rods.

5. The vegetable root cutting device according to claim 1, characterized in that: Each of the contour-matching mechanisms further comprises a telescopic portion, one end of which is connected to the frame rod and the other end is connected to the lower part of the connecting rod. The control device is electrically connected to the telescopic portion and can adjust its telescopic length.

6. The vegetable root cutting device according to claim 5, characterized in that: Each of the contour-matching mechanisms further comprises a spring mechanism, and the other end of the telescopic portion is connected to the lower portion of the connecting rod through the spring mechanism.

7. The vegetable root cutting device according to claim 1, characterized in that: Each of the profiling mechanisms also includes a second connecting rod and a third connecting rod, wherein the rear end of the second connecting rod is connected to the lower part of the connecting rod, and the front end extends away from the disc cutter. The upper end of the third connecting rod is connected to the second connecting rod, and the lower end is connected to the profiling plate.

8. The vegetable root cutting device according to claim 1, characterized in that: The disc cutter is located at the rear side of the profiling plate, and the front end of the profiling plate is in a tilted shape.

9. The vegetable root cutting device according to claim 1, characterized in that: Each of the cutting mechanisms also includes a cutting shaft and a first driving unit. The cutting mechanisms on both sides are connected to the connecting rod of the profiling mechanism through a cutting mechanism connecting frame. The first driving unit is electrically connected to the control device. The cutting shaft is connected between the first driving unit and the disc cutter, and the disc cutter, the cutting shaft and the first driving unit are arranged on the cutting mechanism connecting frame.

10. The vegetable root cutting device according to claim 9, characterized in that: Each of the cutting mechanisms further comprises a cutter shaft bracket, the cutter shaft bracket is connected to the cutting mechanism connecting frame, and the first driving part and the cutter shaft are connected to the cutter shaft bracket.

11. The vegetable root cutting device according to claim 10, characterized in that: Each cutting mechanism also includes a bearing seat connected to the lower part of the cutter shaft bracket, the first driving part is arranged on the upper part of the cutter shaft bracket, one end of the cutter shaft is connected to the first driving part, and the other end passes through the bearing seat and is connected to the disc cutter.

12. The vegetable root cutting device according to claim 10, characterized in that: The cutting mechanism connecting frame has a plurality of slide grooves, and the cutter shaft bracket has a plurality of protrusions, the protrusions correspond to the positions of the slide grooves, and the protrusions can slide in the slide grooves and be fixed at different positions. When the protrusions slide in the slide grooves, the relative angle between the two cutter shafts can be changed.

13. The vegetable root cutting device according to claim 9, characterized in that: Each of the cutting mechanisms also includes a connecting plate, one side of which is rotatably connected to the connecting rod, and the other side has multiple installation positions. The cutting mechanism connecting frame can be rotatably connected to the connecting plate at any of the installation positions and can be switched among the multiple installation positions. The upper end of the cutting mechanism connecting frame is rotatably connected to the connecting rod.

14. The vegetable root cutting device according to claim 1, characterized in that: The crawler walking mechanism also includes a second driving part, which is arranged on the frame and connected to the two crawler walking parts.

15. A vegetable root cutting method, using the vegetable root cutting device according to any one of claims 1 to 14, characterized in that: The steps include: 1) According to the planting agronomy of the vegetables to be harvested, the profiling mechanism is adjusted so that the profiling plate contacts the soil surface and applies a certain pressure to the soil surface, so that the profiling mechanism has a soil profiling function; according to the planting density and the number of planting rows, the angle of the cutting mechanism and the outward inclination angle of the disc cutter are adjusted so that the cutting angle of the disc cutter is suitable for the current cutting and harvesting operation; 2) The crawler walking mechanism moves forward, driving the profiling mechanism and the cutting mechanism to move forward, and the disc cutter performs counter-rotating motion to cut the roots of the vegetables to be harvested; 3) During the forward movement, the profiling plate is in close contact with the soil surface, and the height of the profiling mechanism is adaptively adjusted according to the change of soil height, thereby adjusting the height of the cutting mechanism to ensure that the root cutting height is consistent during the harvesting process; as well as 4) The disc cutter of the cutting mechanism rotates to shear the roots of the vegetables to be harvested, separating the vegetables to be harvested from the soil. At the same time, the vegetables after root cutting are thrown backwards as the disc cutter rotates to avoid repeated cutting and complete the harvesting work.

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