Self-propelled multifunctional angelica dahurica harvester

Abstract

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

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery and equipment, and particularly relates to a self-propelled multi-functional angelica dahurica harvester. Technical Background

[0002] Angelica dahurica is one of the important commonly used Chinese medicinal materials in China, with broad market demands at home and abroad and occupies an important position in Chinese medicinal materials. Angelica dahurica is mainly divided into four categories: Hangzhou angelica dahurica, Sichuan angelica dahurica, Qili angelica dahurica, and Yu angelica dahurica. There are certain differences in the medicinal properties and qualities of different angelica dahuricas, and their planting soil conditions are also different. Among them, the soil of Sichuan angelica dahurica is particularly sticky, and the harvest is particularly difficult. At present, the existing hanging or traction type rhizome Chinese herbal medicine harvesters have poor versatility and cannot be used for the harvest of angelica dahurica. Moreover, angelica dahurica has deep roots, and the existing angelica dahurica harvesting equipment has great excavation difficulty, high breakage rate, low net harvest rate, high energy consumption and low efficiency, and can only be targeted at one kind of soil, with poor versatility.

[0003] At present, only a utility model patent application CN217905168U provides an angelica dahurica harvester, which includes a plow frame, a conveying mechanism, a machine frame and ground wheels, and also includes a plow column and a plow body; the plow column is movably connected to the middle of the plow frame; the plow body is installed at the lower end of the plow frame. The number of the plow columns is 2, and they are symmetrically arranged in the middle of the plow frame. It also includes a number of harvesting blades continuously arranged on the lower side of the plow frame. The harvesting blades are arranged obliquely downward in the working direction of the angelica dahurica harvester, so that the working surface of the harvesting blades can be inserted into the soil. This utility model solves the problem of "no machine available" in the prior art, can improve the angelica dahurica harvesting efficiency and reduce the harvesting loss; has good adaptability and can be matched with common agricultural vehicles or devices to achieve automatic harvesting; according to the angelica dahurica planting conditions, the toothed harvesting blades and the plow body are organically combined and arranged alternately, which can greatly reduce the excavation resistance and save energy.

[0004] However, the angelica dahurica harvester described in this utility model patent has a simple structure and still has some deficiencies: for example, this patent needs to be lapped on a walking device to operate, with poor independence and flexibility; this harvester cannot fully adapt to angelica dahuricas with different soil qualities, different depths and growth conditions, and has poor versatility; this patent cannot perform operations such as cutting stems and leaves and collection, and has a single function. Summary of the Invention

[0005] In order to solve the problems of high breakage rate, low efficiency and poor versatility of the existing equipment, the present invention provides a self-propelled multi-functional angelica dahurica harvester. The present invention can ensure the integrity rate and high efficiency of angelica dahurica, and can loosen soils with different qualities by adjusting the vibration frequency of the subsoiler to complete the soil deep loosening, pulling, clamping and conveying, soil removal, rhizome separation and collection of angelica dahurica.

[0006] The present invention is realized as follows, It includes a crawler chassis, a power transmission device, a hydraulic system, a frame, an angelica dahurica collection device, a stem and leaf collection box, a stem and leaf clamping and conveying device, a stem and leaf gathering device, a stem and leaf cutting device, a soil removal device, and a vibrating subsoiler.

[0007] The angelica dahurica collection device is hinged and fixed in the middle of the vehicle body, the stem and leaf collection device is hinged and fixed at the rear of the vehicle body, the stem and leaf clamping and conveying device is fixed on the left side in the traveling direction of the vehicle body. At the end of the stem and leaf clamping and conveying device, there is a stem and leaf cutting device, a soil removal device is arranged in the middle, and a stem and leaf gathering device, a vibrating subsoiler, and a depth-limiting wheel are fixed at the front end. By controlling the hydraulic system and the power transmission device through the console, the driving of the whole machine and the operation of each device are realized.

[0008] Furthermore, the crawler chassis needs to have the advantages of strong obstacle-crossing ability, excellent stability, and outstanding load capacity. Therefore, widened inverted trapezoidal crawlers are adopted, with an operating width of 1200 mm and a width of 300 mm to increase the contact area with the ground, reduce the ground contact pressure, and prevent the harvester from sinking in sticky soil. The crawler surface is provided with anti-slip patterns, and a differential is arranged on the chassis and connected to the console through a transmission device to control the forward movement and in-situ steering of the whole machine.

[0009] Furthermore, the stem and leaf clamping and conveying device is obliquely fixed on the left side in the traveling direction of the harvester, and includes an upper support frame, a lower support frame, a pulley support member, a flat pulley, and a clamping belt. Among them, the pulley support members are symmetrically distributed on the support frame at equal intervals, with a spacing of 150 mm between adjacent members, and are fixed by bolts. Each support member is equipped with a flat pulley, and the clamping belt is wrapped outside the flat pulley to form a closed loop. The driving flat pulley is arranged at the front end of the clamping and conveying device, and its rotation drives the clamping belt to run around the pulley to realize the clamping and conveying of angelica dahurica. Among them, the clamping belt is made of high-elastic rubber material, and the gap between two rows of clamping belts is less than 10 mm of the diameter of the angelica dahurica stem, and the gap is adjustable so that it can closely fit the angelica dahurica stem to prevent slipping during the conveying process. The surface of the clamping belt is provided with anti-slip textures to further enhance the friction with angelica dahurica.

[0010] Furthermore, the stem and leaf gathering device is at the front end of the clamping and conveying device and is located above the upper support frame. It consists of two symmetrically distributed guide rods; the guide rods are made of high-strength aluminum alloy material, and the surface is treated with anti-oxidation to be able to be used in a humid environment for a long time. The guide rods are 30 cm long, form an angle of 30° with the ground, and extend 20 cm in front of the stem and leaf clamping and conveying device. During the traveling of the harvester, the front end of the guide rod is as close to the ground as possible, which can better realize the gathering of the angelica dahurica stem and prevent missed harvesting. The guide rods are fixed on the support frame by two arc-shaped hoops through bolts.

[0011] Further, a stem and leaf cutting device is provided at the end of the stem and leaf clamping and conveying device, which includes a serrated cutting knife, a support member, a bevel gear set, and a cutter gear. Among them, there are two support members symmetrically distributed and fixed to the upper support frame of the stem and leaf clamping and conveying device by bolts. A cutter gear is fixed on each support member. The serrated cutting knife meshes with the cutter gear. One end of the bevel gear set is connected to the cutter gear for transmission, and the other end is connected to a power transmission device for driving. The rotation direction of the cutting knife is clockwise when viewed from the top-down perspective of the harvester's traveling direction, which is beneficial for the angelica dahurica with the cut stems to have the inertia of falling into the collection device. The surface of the cutting knife is treated with a special coating, having wear-resistant and anti-corrosion properties.

[0012] Further, the vibrating subsoiler fixed at the front end of the stem and leaf clamping and conveying device is equipped with a vibrating mechanism. Two symmetrically distributed vibrating subsoilers are provided and fixed to two symmetrically distributed small rocker arms by bolts respectively. The two small rocker arms are fixed to the upper support frame by bolts. The small rocker arm and the large rocker arm are fixed by bolts, and the large rocker arm and the eccentric wheel are fixed by pins. The center of the eccentric wheel is connected to the output shaft of the vibrating motor, and the vibrating motor is fixed to the lower support frame. The vibrating motor drives the subsoiler to generate a high-frequency reciprocating swinging motion to loosen the soil, and the lifting of the subsoiler is controlled by the hydraulic system. The position of the shovel tip is 20 cm behind the front end of the clamping conveyor belt. The subsoiler adopts a vertical shovel blade with a tillage depth of 30 cm, and the tillage depth can be adjusted by the position of the depth adjustment positioning pin in the adjustment hole.

[0013] Further, the soil removal device fixed in the middle of the stem and leaf clamping and conveying device removes the soil adhering to the roots of the angelica dahurica through rotating roller teeth, and includes a roller, soft rubber roller teeth, and a transmission shaft. The transmission shaft passes through the inside of the roller and is fixed to the upper support frame through a bracket. The roller is located directly below the upper support frame. Two circles of soft rubber roller teeth are evenly distributed on the surface of the roller. The corresponding positions of adjacent two circles of roller teeth are the same to prevent the angelica dahurica from being wound and cut off during the soil removal process due to the staggered distribution of the roller teeth. There are 8 roller teeth in each circle, and the shape is set as a spiral spring shape, with a length of 150 mm and a diameter of 20 mm. The distance between the two circles of roller teeth is 40 mm, so that the angelica dahurica just passes through between the two circles of roller teeth while the excess soil is removed by the roller teeth. The rotation direction of the roller is the same as the direction of clamping and conveying the angelica dahurica to prevent the angelica dahurica being conveyed upward from being knocked down. The roller teeth are fixed to the roller by bolts, and the roller is fixed to the transmission shaft by bolts. The structure is simple, convenient for position adjustment, and easy to disassemble, install and repair. The transmission shaft is connected to the power output end of the vehicle body through a chain transmission mechanism.

[0014] Further, the Angelica dahurica collection device hinged and fixed in the middle of the vehicle body includes a baffle, conveying bars, and a rotating shaft; one end of the Angelica dahurica collection device close to the stem and leaf cutting device is higher than the other end, with an angle of 10° with the ground, and the angle is adjustable, which is beneficial to improving the conveying efficiency of Angelica dahurica, and the excess soil attached to the Angelica dahurica can also be shaken off during the conveying process; the baffle is located on both sides of the conveying bars to prevent the Angelica dahurica from falling off, and there is a gap of 15 - 20 mm between the bars, through which the remaining soil during the conveying of the Angelica dahurica can leak to the ground; the running speed of the conveying chain is adjustable to adapt to different harvesting speeds. The rotating shaft is connected to the power output end of the vehicle body through a transmission device.

[0015] Further, the stem and leaf collection box fixed at the rear of the vehicle body is fixed to the vehicle frame by bolts, with a length, width, and height of 1200×600×1000. After the stems and leaves of the Angelica dahurica are cut off by the stem and leaf cutting device, the roots fall into the Angelica dahurica collection device for conveying and collection, while the stems and leaves of the Angelica dahurica continue to be clamped and conveyed by the clamping belt until the end of the clamping belt, and then the stems and leaves fall into the stem and leaf collection device. The collection box is made of aluminum alloy, which not only ensures light weight but also high strength of the box body.

[0016] Advantages of the present invention: 1. The present invention consists of a vibrating subsoiler, a stem and leaf gathering device, a stem and leaf clamping and conveying device, a soil removal device, a stem and leaf cutting device, and an Angelica dahurica collection device, which can simultaneously complete operations such as soil deep loosening, pulling, clamping and conveying, soil removal, root and stem separation, and collection of Angelica dahurica.

[0017] 2. A vibrating motor is provided at the handle end of the subsoiler of the present invention, and different types of soil can be loosened by adjusting the vibration frequency.

[0018] 3. The stem and leaf gathering device adopted by the present invention can gather the stems and leaves of Angelica dahurica, enabling them to smoothly enter the clamping and conveying device, and there will be no phenomenon of low harvesting rate caused by missed pulling.

[0019] 4. The present invention adopts a rotary roller soil removal device. The corresponding positions of the two circles of roller teeth are the same, and the distance between the two circles of roller teeth is 40 mm, and the distance is adjustable. Such a design can ensure that the roots of Angelica dahurica pass through, while removing the excess soil attached to the Angelica dahurica. The design of the soft rubber spiral spring roller teeth reduces the breakage rate of the roots of Angelica dahurica and ensures the integrity rate of Angelica dahurica.

[0020] 5. The present invention adopts a stem and leaf cutting device to separate the stems and roots of Angelica dahurica, avoiding secondary processing of the harvest of Angelica dahurica. After passing through the conveying bars, the Angelica dahurica can be directly bagged and collected. Description of the drawings

[0021] Figure 1 is the overall schematic diagram of the present invention; Figure 2 is the partial schematic diagram of the clamping and conveying device of the present invention; Figure 3 is a schematic diagram of the stem and leaf cutting device of the present invention; Figure 4 is a schematic diagram of the subsoiler of the present invention; Figure 5 is a schematic diagram of the soil removing device of the present invention; In the figure: 1, crawler chassis; 2, vehicle frame; 3, angelica dahurica collection device; 4, stem and leaf collection box; 5, stem and leaf clamping and collection device; 6, stem and leaf gathering device; 7, stem and leaf cutting device; 8, soil removing device; 9, vibrating subsoiler; 10, control console; 11, depth-limiting wheel; 51, upper support frame; 52, lower support frame; 53, pulley support member; 54, flat pulley; 55, clamping belt; 56, driving flat pulley; 61, guide rod; 62, arc-shaped hoop; 71, serrated cutting knife; 72, support member; 73, helical gear set; 74, cutter gear; 81, roller; 82, roller teeth; 91, small rocker arm; 92, large rocker arm; 93, eccentric wheel; 94, vibrating motor. Detailed implementation manners

[0022] Referring to Figure 1 , the present invention provides a self-propelled multi-functional angelica dahurica harvester, which can simultaneously complete soil subsoiling, pulling, clamping and conveying, soil removing, rhizome separation and collection of angelica dahurica. It includes a crawler chassis 1, a power transmission device, a hydraulic system, a vehicle frame 2, an angelica dahurica collection device 3, a stem and leaf collection box 4, a stem and leaf clamping and conveying device 5, a stem and leaf gathering device 6, a stem and leaf cutting device 7, a soil removing device 8 and a vibrating subsoiler 9.

[0023] Among them, the angelica dahurica collection device 3 is hinged and fixed in the middle of the vehicle body; the stem and leaf collection box 4 is hinged and fixed at the rear of the vehicle body; the stem and leaf clamping and conveying device 5 is fixed on the left side of the vehicle body in the traveling direction, forming an angle of 30° with the ground; a stem and leaf cutting device 7 is arranged at the end of the stem and leaf clamping and conveying device 5, a soil removing device 8 is arranged in the middle, and a stem and leaf gathering device 6, a vibrating subsoiler 9 and a depth-limiting wheel 11 are fixed at the front end; the control console 10 controls the traveling of the whole machine and the operation of each device by controlling the hydraulic system and the power transmission device.

[0024] The crawler chassis 1 needs to have the advantages of strong obstacle-crossing ability, excellent stability and outstanding load capacity. Therefore, widened inverted trapezoidal crawlers are adopted, with an operating width of 1200 mm and a crawler width of 300 mm to increase the contact area with the ground, reduce the ground contact pressure and prevent the harvester from sinking in sticky soil. The crawler surface is provided with anti-slip patterns to improve the grip and stability of walking. A differential is provided on the chassis to control the traveling and in-situ steering of the whole machine.

[0025] Referring to Figure 2, the stem and leaf clamping and conveying device 5 includes an upper support frame 51, a lower support frame 52, a pulley support member 53, a flat pulley 54, and a clamping belt 55, which is fixed obliquely at 30° to the ground on the left side of the traveling direction of the harvester. Among them, the pulley support members 53 are symmetrically distributed left and right and at equal intervals on the upper support frame 51, with a spacing of 150 mm between adjacent members, and are fixed by bolts. Each pulley support member 53 is equipped with a flat pulley 54, and the clamping belt 55 is wrapped around the outside of the flat pulley 54 to form a closed loop. The driving flat pulley 56 is arranged at the front end of the clamping and conveying device 5, and its rotation drives the clamping belt 55 to run around the flat pulley 54 to realize the clamping and conveying of Angelica dahurica. Among them, the clamping belt 55 is made of high-elastic rubber material, and the gap between the two rows of clamping belts 55 is less than 10 mm of the diameter of the Angelica dahurica stem, which can closely fit the Angelica dahurica stem and prevent slipping during the conveying process. The surface of the clamping belt 55 is provided with anti-slip textures, which further enhances the gripping force and reduces damage to the stem at the same time.

[0026] The stem and leaf gathering device 6 is at the front end of the clamping and conveying device 5 and is located above the upper support frame 51. It is composed of two symmetrically distributed guide rods 61; the guide rods 61 are made of high-strength aluminum alloy material, and the surface is treated with anti-oxidation and can be used in a humid environment for a long time. The guide rods 61 are 30 cm long and 4 cm in diameter, and form an angle of 30° with the ground. The front end of the guide rod 61 extends 20 cm in front of the front end of the stem and leaf clamping and conveying device 5. During the traveling of the harvester, the front end of the guide rod is as close to the ground as possible, which can better realize the gathering of the Angelica dahurica stem and prevent missed harvesting. The guide rod 61 is fixed to the upper support frame 51 by two arc-shaped hoops 62 through bolts.

[0027] Refer to Figure 3 , at the end of the stem and leaf clamping and conveying device 5, there is a stem and leaf cutting device 7, which includes a serrated cutting knife 71, a support member 72, a helical gear set 73, and a cutting knife gear 74. Among them, the support member 72 has two and is symmetrically distributed, and is fixed to the upper support frame 51 of the stem and leaf clamping and conveying device 5 by bolts. Each support member 72 is fixed with a cutting knife gear 74, and the serrated cutting knife 71 meshes with the cutting knife gear 74. One end of the helical gear set 73 is connected to the cutting knife gear 74 for transmission, and the other end is connected to a power transmission device for driving; the rotation direction of the cutting knife 71 is clockwise from the top view of the traveling direction of the harvester, which is beneficial for the Angelica dahurica with the cut stem to have the inertia of falling into the collection device. The surface of the cutting knife is treated with a special coating, which has wear-resistant and anti-corrosion properties.

[0028] Refer to Figure 4, the vibrating subsoiler 9 fixed at the front end of the stem and leaf clamping and conveying device 5 is equipped with a vibration mechanism. Two symmetrically distributed vibrating subsoilers 9 are provided, which are respectively fixed on two symmetrically distributed small rocker arms 91 by bolts, and the two small rocker arms 91 are fixed on the upper support frame 51 by bolts; the small rocker arm 91 and the large rocker arm 92 are fixed by bolts, and the large rocker arm 92 and the eccentric wheel 93 are fixed by pins. The center of the eccentric wheel 93 is connected to the output shaft of the vibration motor 94, and the vibration motor 94 is fixed on the lower support frame 52. The vibration motor 94 drives the subsoiler 9 to generate a high-frequency reciprocating swinging motion to loosen the soil, and the lifting of the subsoiler 9 is controlled by the hydraulic system. The position of the shovel tip is 20 cm behind the front end of the clamping and conveying device 5. The subsoiler 9 adopts a vertical shovel blade, and the tillage depth is 30 cm. The tillage depth can be adjusted by the position of the depth adjustment positioning pin in the adjustment hole.

[0029] Refer to Figure 5 , the soil removing device 8 fixed in the middle of the stem and leaf clamping and conveying device 5 removes the soil attached to the roots of Angelica dahurica through the rotating roller teeth 82, including a roller 81, soft rubber roller teeth 82 and a transmission shaft; the transmission shaft passes through the inside of the roller 81 and is fixed on the upper support frame 51 through a bracket, and the roller 81 is located directly below the upper support frame 51; two circles of soft rubber roller teeth 82 are evenly distributed on the surface of the roller 81; the corresponding positions of adjacent two circles of roller teeth 82 are the same, preventing Angelica dahurica from being wound and cut off during the soil removal process due to the staggered distribution of the roller teeth; there are 8 roller teeth 82 in each circle, and the shape is set as a spiral spring shape, with a length of 150 mm and a diameter of 20 mm. The distance between the two circles of roller teeth 82 is 40 mm, so that Angelica dahurica just passes through between the two circles of roller teeth 82 and the excess soil is removed; the rotation direction of the self-rotation of the roller 811 is the same as the direction of clamping and conveying Angelica dahurica, preventing the Angelica dahurica being conveyed upward from being knocked down. The roller teeth 82 are fixed on the roller 81 by bolts, and the roller 81 is fixed on the transmission shaft by bolts. The structure is simple, the position adjustment is convenient, and the disassembly, installation and maintenance are easy; the transmission shaft is connected to the power output end of the vehicle body through a chain transmission mechanism.

[0030] The Angelica dahurica collection device 3 hinged and fixed in the middle of the vehicle body includes a baffle, conveying bars and a rotating shaft; one end of the Angelica dahurica collection device 3 close to the stem and leaf cutting device 7 is higher than the other end, and the angle with the ground is 10°, and the angle is adjustable, which is beneficial to improving the conveying efficiency of Angelica dahurica, and the excess soil attached to Angelica dahurica can also be shaken off during the conveying process of Angelica dahurica; the baffle is located on both sides of the conveying bars to prevent Angelica dahurica from falling off, and there is a gap of 15 - 20 mm between the bars, which can leak the soil remaining on Angelica dahurica during the conveying process to the ground through the gap; the running speed of the conveying chain is adjustable to adapt to different harvesting speeds; the rotating shaft is connected to the power output end of the vehicle body through a transmission device.

[0031] The stem and leaf collection box 4 fixed to the rear of the vehicle body is fixed to the vehicle frame by bolts, with a length, width and height of 1200×600×1000. The roots of Angelica dahurica fall into the Angelica dahurica collection device 3 through the stem and leaf cutting device 7 and are conveyed and collected, while the stems and leaves of Angelica dahurica continue to be clamped and conveyed by the clamping belt 55 until they are conveyed to the end of the clamping belt 55, and then the stems and leaves fall into the stem and leaf collection box 4. The stem and leaf collection box 4 is made of aluminum alloy material, which not only ensures light weight but also ensures high strength of the box body.

Claims

1. A self-propelled multi-functional angelica dahurica harvester, characterized in that, It includes a crawler chassis (1), a power transmission device, a hydraulic system, a frame (2), an angelica dahurica collection device (3), a stem and leaf collection box (4), a stem and leaf clamping and conveying device (5), a stem and leaf gathering device (6), a stem and leaf cutting device (7), a soil removal device (8) and a vibrating subsoiler (9). The angelica dahurica collection device (3) is hinged and fixed in the middle of the vehicle body. The stem and leaf collection box (4) is hinged and fixed at the rear of the vehicle body. The stem and leaf clamping and conveying device (5) is fixedly connected to the left side in the traveling direction of the vehicle body. A stem and leaf cutting device (7) is arranged at the end of the stem and leaf clamping and conveying device (5), a soil removal device (8) is arranged in the middle, and a stem and leaf gathering device (6), a vibrating subsoiler (9) and a depth-limiting wheel (11) are fixed at the front end. The operation console (10) controls the hydraulic system and the power transmission device to realize the driving of the whole machine and the operation of each device.

2. The self-propelled multi-functional angelica dahurica harvester according to claim 1, characterized in that: The crawler chassis (1) adopts an inverted trapezoidal crawler, and a differential is arranged on the chassis to control the in-situ steering of the whole machine.

3. The self-propelled multi-functional angelica dahurica harvester according to claim 1, wherein: The stem and leaf clamping and conveying device (5) includes an upper support frame (51), a lower support frame (52), a pulley support member (53), a flat pulley (54) and a clamping belt (55). Among them, the pulley support members (53) are symmetrically distributed on the upper support frame (51) at equal intervals and are fixed by bolts. A flat pulley (54) is installed on each support member (53). The clamping belt (55) wraps around the outside of the flat pulley (54) to form a closed loop. The driving flat pulley (56) is arranged at the front end of the clamping and conveying device (5). The power generated by the driving flat pulley (56) is transmitted to the flat pulley (54) by the clamping belt (55), and its rotation drives the clamping belt (55) to rotate around the flat pulley (54) to realize the clamping and conveying of angelica dahurica. The gap between the two rows of clamping belts (55) is smaller than the diameter of the angelica dahurica stem.

4. The self-propelled multi-functional angelica dahurica harvester according to claim 3, wherein: The stem and leaf gathering device (6) is located above the upper support frame (51) and is composed of two symmetrically distributed guide rods (61); it is arranged at an angle with the ground and extends 20 cm in front of the front end of the stem and leaf clamping and conveying device (5). Two arc-shaped hoops (62) are fixed on the upper support frame (51) by bolts.

5. The self-propelled multi-functional angelica dahurica harvester according to claim 1, characterized in that: The stem and leaf clamping and conveying device (5) includes a serrated cutting knife (71), a support member (72), a helical gear set (73) and a cutter gear (74). Among them, the two support members (72) are symmetrically distributed and are fixed on the upper support frame (51) of the stem and leaf clamping and conveying device (5) by bolts. A cutter gear (74) is fixed on each support member (72). The serrated cutting knife (71) meshes with the cutter gear (74). One end of the helical gear set (73) is connected to the cutter gear (74) for transmission, and the other end is connected to the power transmission device for driving; the rotation direction of the cutting knife (71) is clockwise when viewed from the top-down perspective of the traveling direction of the harvester.

6. The self-propelled multi-functional angelica dahurica harvester according to claim 1, characterized in that: The vibrating subsoiling shovel (9) is equipped with a vibrating mechanism. Two symmetrically distributed vibrating subsoiling shovels (9) are provided, and are respectively fixed on two symmetrically distributed small rocker arms (91) by bolts. The two small rocker arms (91) are fixed on the upper support frame (51) by bolts; the small rocker arm (91) and the large rocker arm (92) are fixed by bolts, and the large rocker arm (92) and the eccentric wheel (93) are fixed by pins. The center of the eccentric wheel (93) is connected to the output shaft of the vibrating motor (94), and the vibrating motor is fixed on the lower support frame (52).

7. The vibrating motor (94) drives the subsoiling shovel (9) through the eccentric wheel (93) to generate a high-frequency reciprocating swinging motion to loosen the soil. The lifting of the subsoiling shovel (9) is controlled by a hydraulic system. After the position of the shovel tip is behind the front end of the clamping and conveying device, the subsoiling shovel (9) adopts a vertical cutting blade, and the tillage depth can be adjusted by the position of the depth adjustment positioning pin in the adjustment hole.

8. The self-propelled multi-functional angelica dahurica harvester according to claim 1, characterized in that: The soil removing device (8) includes a roller (81), soft rubber roller teeth (82) and a transmission shaft; the transmission shaft passes through the inside of the roller (81) and is fixed on the upper support frame (51) by a bracket. The roller (81) is located directly below the upper support frame (51); two circles of soft rubber roller teeth (82) are evenly distributed on the surface of the roller (81). The corresponding positions of adjacent two circles of roller teeth (82) are the same, with 8 in each circle, and the shape is set as a spiral spring shape. The rotation direction of the roller (81) is the same as the direction of clamping and conveying Angelica dahurica. The roller teeth (82) are fixed on the roller (81) by bolts, the roller (81) is fixed on the transmission shaft by bolts, and the transmission shaft is connected to the power output end of the vehicle body through a chain transmission mechanism.

9. The self-propelled multi-functional angelica dahurica harvester according to claim 1, characterized in that: The Angelica dahurica collection device (3) includes a baffle, conveying bars and a rotating shaft; the Angelica dahurica collection device (3) is higher at one end close to the stem and leaf cutting device than at the other end, and is arranged at an angle to the ground; the baffle is located on both sides of the conveying bars; there are gaps between the bars; the running speed of the conveying chain is adjustable; the rotating shaft is connected to the power output end of the vehicle body through a transmission device.

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