Hugging type apocynum venetum cutting and bundling harvester and control method thereof

Abstract

The invention provides a hugging type apocynum venetum cutting and bundling harvester and a control method thereof. The hugging type apocynum venetum cutting and bundling harvester comprises a pre-cutting detection system, a cutting device, an anti-blocking conveying system, a hugging type gathering device, a chassis, a knotter and a control system. The pre-cutting detection system is used for detecting the height, width and harvesting speed of apocynum venetum and feeding back to the control system; the holding type folding device is divided into a lower layer, a middle layer and an upper layer, the middle layer and the upper layer are provided with movable shifting teeth and shifting fingers, and the height between every two layers is adjustable; the conveying systems are arranged on the header, the upper end of the gathering device and the walking device and used for reducing the blocking rate in the apocynum venetum harvesting process. The high-efficiency apocynum venetum bundle cutting and harvesting machine can realize high-efficiency harvesting of different varieties of apocynum venetum, and is also suitable for harvesting operation of other high-stem crops.

Description

Technical Field

[0001] This invention belongs to the field of agricultural equipment technology, and in particular to a husking type Apocynum venetum cutter and harvester and its control method. Background Technology

[0002] Apocynum venetum is a subshrub belonging to the genus Apocynum in the family Apocynaceae. Due to its high stem density and strength, and its harsh growing environment, and because there is currently no machinery available for harvesting Apocynum venetum, it can only be harvested manually, which is not only labor-intensive but also inefficient. A baler harvester, on the other hand, cuts the crop, bundles it, and stacks it neatly, making it well-suited for harvesting Apocynum venetum plants growing in harsh environments.

[0003] Chinese patent CN202211146612.2 discloses a "grain baler," whose grain conveying device neatly transports harvested grain to a baling device via a conveyor chain and a pressing device for baling. However, its conveying device is positioned low and uses longitudinal transport, meaning this structure can only effectively harvest lower-growing cereal crops. Compared to cereal crops, Apocynum venetum is not only tall but also strong, making this type of baler unsuitable for harvesting clumps of Apocynum venetum. Summary of the Invention

[0004] To address the technical shortcomings of the aforementioned balers, this invention provides a shovel-type Apocynum venetum baler and harvester, along with its control method. The aim is to reduce labor intensity and achieve efficient harvesting of Apocynum venetum. Furthermore, this Apocynum venetum baler and harvester is applicable to harvesting other tall crops.

[0005] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0006] A clump-type Apocynum venetum husk harvester, characterized in that it includes a pre-cutting detection system, a cutting device, a conveying system, a clump-type gathering device, a chassis, a knotter, and a control system;

[0007] The pre-harvest detection system includes a cluster height sensor, a cluster width sensor, and a speed sensor, used to detect the height and width of the Apocynum venetum clusters to be harvested and the harvesting speed of the harvester, and transmit the data to the control system.

[0008] The cutting device is located in front of the chassis, and the embracing-type retracting device is located above the front of the cutting device. It includes a power system, an output link, a transmission link mechanism, and three horizontal retracting devices stacked vertically and connected in pairs by a thrust motor: a lower horizontal retracting device, a middle horizontal retracting device, and an upper horizontal retracting device. The power system is located behind the cutting device, and its output shaft is connected to the lower horizontal retracting device via an output link. The lower, middle, and upper horizontal retracting devices are connected to the frame via a transmission link mechanism, allowing them to rotate in a circular motion around the end of the output link in a horizontal plane under the drive of the output link. Each of the lower, middle, and upper horizontal retracting devices is equipped with fixed teeth, movable teeth, and movable fingers.

[0009] The conveying system includes an upright conveyor system, a height-adjustable crop pressing plate device, and a bottom conveyor system. The upright conveyor system includes two first conveyor belt devices with corners, installed above the cutting device and located between the lower and middle horizontal gathering devices, and symmetrically arranged on the left and right. The two first conveyor belt devices constitute a crop guiding and gathering section and a transmission section. The two ends of the first conveyor belt devices are driven by variable diameter drums, and the transmission gap at the transmission section of the two first conveyor belt devices is changed by adjusting the diameter of the variable diameter drums. The crop pressing plate device is installed in an adjustable position above and behind the upright conveyor system and in front of the cab, and includes a motor and a pressing plate driven by the motor. The bottom conveyor system is installed below the baler chassis and includes two second conveyor belt devices with a conveying direction opposite to the forward direction of the baler and a 30-60° angle between the conveyor belt and the horizontal plane. The two second conveyor belt devices are symmetrically arranged on the left and right sides relative to the baler chassis.

[0010] The knotter is located behind the vertical conveyor system and is used to tie the cut Apocynum venetum stems into bundles.

[0011] The control system is connected to the pre-cutting detection system, the cutting device, the conveying system, the embracing and gathering device, the chassis, and the knotter; the control system adjusts the operation of the conveying system and the embracing and gathering device based on the data monitored by the pre-cutting detection system.

[0012] Furthermore, the first conveyor belt device of the vertical conveyor system includes a transmission frame consisting of two first motor supports and a conveyor belt enclosure, a tensioning wheel and a steering drum mounted at the corner of the enclosure, a cutting table motor and a variable diameter drum mounted on the first motor supports, and a synchronous pulley and a synchronous belt for driving and connecting the cutting table motor and the variable diameter drum; the two synchronous pulleys are respectively mounted on the motor output end and the variable diameter drum, and the two synchronous pulleys are connected by a synchronous belt; the two ends of the first conveyor belt are respectively fitted onto the outer ends of the two variable diameter drums.

[0013] Furthermore, the variable diameter rotary drum includes a rotary drum motor, a threaded shaft connected to the output shaft of the rotary drum motor and having reverse external threads at both ends, an internally threaded slide connected to the threaded shaft, a circular connecting plate mounted on the outside of the slide plate via bearings, and a plurality of strip-shaped arc plates connected to the circular connecting plate via rotary drum connecting rods and distributed in a circular pattern.

[0014] Furthermore, the crop pressing plate device includes a motor at the pressing plate, a pressing plate whose one end is connected to the output end of the pressing plate motor via a coupling, a second motor bracket for fixing the pressing plate motor, and the other ends of the second motor bracket and the pressing plate are respectively mounted on the outer shell and the side support frame fixed to the machine frame via pin one and pin two.

[0015] Furthermore, the second conveyor belt device of the bottom conveyor system includes a bottom motor, a conveyor belt shaft, and a conveyor belt. The bottom motor and the conveyor belt shaft are both mounted on the bottom of the chassis via a frame-motor connection bracket. The conveyor belt is mounted on two conveyor belt shafts, and the bottom motor is connected to one of the conveyor belt shafts via a gear set.

[0016] Furthermore, the transmission linkage mechanism includes a left linkage mechanism and a right linkage mechanism. The left linkage mechanism includes a first link hinged to the left frame, a second link hinged to the first link, and a third link with one end fixed to the second link and the other end fixedly connected to the upper second thrust motor support frame. The other end of the second link is fixedly connected to the middle layer horizontal retracting device. The right linkage mechanism includes a fourth link hinged to the right frame, a fifth link hinged to the fourth link, and a sixth link with one end fixed to the fifth link and the other end fixedly connected to the lower layer horizontal retracting device. The other end of the fifth link is fixedly connected to the second thrust motor support frame.

[0017] Furthermore, the middle-layer horizontal retracting device includes a middle-layer connecting rod, movable teeth, a drive motor, a motor connecting rod, and a rear connecting rod. There are several movable teeth, with their roots hinged to the middle-layer connecting rod and their ends hinged to the rear connecting rod. The drive motor is fixed to the middle-layer connecting rod, and its output shaft is perpendicular to the plane of the middle-layer connecting rod. The end of the rear connecting rod is hinged to the output end of the drive motor via the motor connecting rod. The middle-layer connecting rod, movable teeth, motor connecting rod, and rear connecting rod form a four-bar linkage, with the straight line of the movable teeth's roots parallel to the motor connecting rod. The drive motor drives the motor connecting rod to rotate, and the rear connecting rod enables the movable teeth to rotate 30°-150° in the horizontal plane.

[0018] Furthermore, the upper horizontal retracting device includes an upper connecting rod, movable shift fingers, a stepper motor, and a lead screw. Several movable shift fingers are hinged at their roots to the upper connecting rod, and their ends are threaded to the lead screw. The stepper motor is fixed to the upper connecting rod, and its output end is connected to the lead screw. The lead screw is located in a horizontal plane and is parallel to the upper connecting rod. The stepper motor drives the movable shift fingers to rotate around the hinge point between themselves and the upper connecting rod in the horizontal plane, completing a rotation of 30° to 150°.

[0019] Furthermore, the lower end of the second motor bracket of the crop pressing device is connected to the support platform; the support platform has two round holes, and several pairs of round holes are evenly distributed on the outer shell; the pin passes through the two round holes on the outer shell and the support platform and fixes them.

[0020] The side support frame has a long groove in the middle, which allows the other end of the pressure plate to slide in the groove; the side support frame has a pair of round holes on both sides; the second pin has a round hole inside, which fixes the other end of the pressure plate to the side support frame.

[0021] The control method for the described clump-type Apocynum venetum cutter and harvester is characterized in that the adaptive control process of the control system includes the following steps:

[0022] (1) Construct a morphological model database of Apocynum venetum clumps. The harvesting speed, height and width of the Apocynum venetum clumps to be harvested are detected by the speed sensor, clump height sensor and clump width sensor of the pre-harvest detection system. The collected speed, height and width information is transmitted to the control system for analysis. The height and width of the Apocynum venetum clumps are recorded, and the weight, density and number of plants of the clumps are recorded. A morphological model database of Apocynum venetum clumps with height and width as indicators is established.

[0023] (2) During the harvesting of Apocynum venetum, the height and width of the Apocynum venetum clumps to be harvested are detected in real time by the clump height sensor and clump width sensor of the pre-harvest detection system. The data are then compared with the morphological model database to obtain a rough morphological model of the clumps. At the same time, the speed sensor detects the harvesting speed of the baler harvester in real time.

[0024] (3) The control system drives the thrust motor in real time according to the detected clump height so that the hugging height of the hugging and gathering device is adapted to the height of the Apocynum venetum clump to be harvested.

[0025] Based on the harvesting speed detected by the speed sensor and the width of the tuft of Apocynum venetum to be harvested, the working parameters of the power system, drive motor, and stepper motor are controlled to make the reciprocating speed of the gathering device and the rotation speed of the movable teeth and movable fingers adapt to the harvesting speed.

[0026] Based on the harvesting speed detected by the speed sensor, the transmission speed of the first conveyor belt is controlled to be slightly greater than the forward speed of the baler harvester. The transmission speed of the conveyor belt of the bottom conveyor system is the same as the forward speed of the baler harvester, and the transmission direction is opposite to the forward direction of the baler harvester.

[0027] In conjunction with the width of the Apocynum venetum clumps to be harvested, the diameter of the variable-diameter drum is adjusted by controlling the drum motor to adjust the angle between the first conveyor belt and the forward direction, thereby adjusting the clamping force on the Apocynum venetum. During this process, the two variable-diameter drums on the same side simultaneously change their diameters in opposite directions, so as to maintain the tension of the first conveyor belt while adjusting the clamping force on the Apocynum venetum.

[0028] The beneficial effects of this invention are as follows:

[0029] The Apocynum venetum burlap stalk harvester proposed in this invention can effectively reduce the labor intensity of workers and greatly improve the harvesting efficiency of Apocynum venetum in a mechanized manner. The anti-blockage conveying system reduces the blockage rate during the harvesting process, and the scooping and gathering device makes the Apocynum venetum burlap stalk harvester applicable to the harvesting of different types of Apocynum venetum and other tall crops.

[0030] The Apocynum venetum husk harvester proposed in this invention adopts a wheeled chassis, which has a higher speed and therefore higher operating efficiency; the wheeled chassis is applicable to various terrains and is more suitable for the complex growing environment of Apocynum venetum. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of a hugging-type Apocynum venetum cutter and harvester.

[0032] Figure 2 This is a schematic diagram of the cutting device structure of a hugging type Apocynum venetum cutter and harvester.

[0033] Figure 3This is a schematic diagram of the anti-clogging conveying system of a clump-type Apocynum venetum cutter and baler.

[0034] Figure 4 This is a schematic diagram of a multi-claw retracting device with adjustable height and angle.

[0035] Figure 5 This is the main view of the structure of a multi-claw retracting device with adjustable height and angle.

[0036] Figure 6 This is a schematic diagram of the lower-level horizontal retraction device.

[0037] Figure 7 This is a schematic diagram of the middle-layer horizontal gathering device.

[0038] Figure 8 This is a top view of the middle-level horizontal retractable device.

[0039] Figure 9 This is a schematic diagram of the upper horizontal retracting device.

[0040] Figure 10 This is a top view of the upper horizontal retractable device.

[0041] Figure 11 This is a schematic diagram of the transmission linkage mechanism of the hugging-type gathering device.

[0042] Figure 12 This is a schematic diagram of a vertical conveyor system.

[0043] Figure 13 This is a schematic diagram of a variable diameter rotating cylinder structure.

[0044] Figure 14 This is a schematic diagram of the crop pressing plate device.

[0045] Figure 15 This is the main view of the crop pressing plate device structure.

[0046] Figure 16 This is the main view of the bottom conveyor system.

[0047] Figure 17 This is a schematic diagram of the bottom conveyor system.

[0048] In the picture,

[0049] 1. Pre-cutting inspection system; 2. Cutting device; 3. Conveying system; 4. Gathering device; 5. Chassis; 6. Knotter; 7. Control system; 301. Vertical conveyor system; 301-1. First motor bracket; 301-2. Motor at the cutting table; 301-3. Synchronous pulley; 301-4. Synchronous belt; 301-5. Variable diameter rotary drum; 301-6. Conveyor belt; 301-7. Conveyor belt enclosure; 301-8. Tensioner bracket; 301-9. Tensioner; 301-10. Steering rotary drum; 301-5-1. Rotary drum motor; 301-5 -2. Threaded shaft, 301-5-3. Internal threaded slide, 301-5-4. Bearing, 301-5-5. Circular connecting plate, 301-5-6. Connecting rod, 301-5-7. Strip-shaped arc plate, 302. Crop pressing device, 302-1. Housing, 302-2. Second motor bracket, 302-3. Motor at pressing plate, 302-4. Support platform, 302-5. Pin one, 302-6. Coupling, 302-7. Pressing plate, 302-8. Side support frame, 302-9. Pin two, 303. Bottom conveying system, 303-1 1. Frame - Motor Connection Bracket, 303-2. Bottom Motor, 303-3. Conveyor Belt Shaft, 303-4. Gear 1, 303-5. Gear 2, 303-6. Conveyor Belt, 401. Power System, 402. Output Linkage, 403. Lower Horizontal Gathering Device, 403-1. Crossbar, 403-2. Gear, 404. Middle Horizontal Gathering Device, 404-1. Thrust Motor 1, 404-2. Thrust Motor Support Frame, 404-3. Middle Connecting Rod, 404-4. Movable Gear, 404-5. Drive Motor, 404-6. Motor connecting rod, 404-7. Rear connecting rod, 405. Upper horizontal retracting device, 405-1. Thrust motor II, 405-2. Thrust motor support frame, 405-3. Upper connecting rod, 405-4. Movable shift finger, 405-5. Stepper motor, 405-6. Lead screw, 406. Transmission linkage mechanism, 406-1. First connecting rod, 406-2. Second connecting rod, 406-3. Third connecting rod, 406-4. Fourth connecting rod, 406-5. Sixth connecting rod, 406-6. Fifth connecting rod, 801. Left side frame, 802. Right side frame. Detailed Implementation

[0050] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0051] like Figure 1As shown, the tufted Apocynum venetum harvester of the present invention includes a pre-cutting detection system 1, a cutting device 2, an anti-clogging conveying system 3, a tufted gathering device 4, a chassis 5, a knotter 6, and a control system 7. The pre-cutting detection system 1, cutting device 2, anti-clogging conveying system 3, tufted gathering device 4, knotter 6, and control system 7 are all mounted on the chassis 5. The chassis 5 is a wheeled chassis, and the cutting device 2 is located in front of the chassis 5 for cutting the Apocynum venetum clumps. The anti-clogging conveying system is used to improve the throughput of Apocynum venetum clumps and prevent clogging; the embracing and gathering device is located above the cutting device and gathers the Apocynum venetum clumps to facilitate cutting; the knotter is located behind the embracing and gathering device and is used to tie the cut Apocynum venetum stems into bundles; the control system is connected to the pre-cutting detection system, the cutting device, the anti-clogging conveying system, the embracing and gathering device, the chassis, and the knotter; the control system is used to adjust the speed and inlet angle of the anti-clogging conveying system, and to adjust the height and angle of the embracing and gathering device.

[0052] like Figure 2 As shown, the system includes a power system 201, an output linkage 202, a moving blade 203, a fixed blade 204, and a base plate 205. The power system 201 is connected to the base plate 205. The power system 201 drives the moving blade 203 to reciprocate through the output linkage 202. The moving blade 203 and the fixed blade 204 work together to cut the stems. The pre-harvest detection system 1 includes a cluster height sensor, a cluster width sensor, and a speed sensor, used to detect the height and width of the hemp clusters to be harvested and the harvesting speed of the harvester, and transmit the data to the control system 7.

[0053] The power system 401, output linkage 402, transmission linkage mechanism 406, and the lower horizontal retracting device 403, middle horizontal retracting device 404, and upper horizontal retracting device 405, which are stacked on top of each other and connected to each other by a thrust motor.

[0054] like Figure 4 , Figure 5 As shown, the hugging-type gathering device is located above the front of the cutting device 2 and includes a power system 401, an output connecting rod 402, a lower horizontal gathering device 403, a middle horizontal gathering device 404, an upper horizontal gathering device 405, and a transmission connecting rod mechanism 406.

[0055] There are two lower-layer horizontal gathering devices 403, two middle-layer horizontal gathering devices 404, and two upper-layer horizontal gathering devices 405, symmetrically arranged on the left and right sides in front of the cutting device 2. The lower-layer horizontal gathering devices 403, 404, and 405 located on the same side are stacked one on top of the other. A thrust motor 404-1 is installed between the lower-layer horizontal gathering devices 403 and the middle-layer horizontal gathering devices 404, and a thrust motor 405-1 is installed between the middle-layer horizontal gathering devices 404 and the upper-layer horizontal gathering devices 405. The distance between the two devices can be adjusted by the thrust motors 404-1 and 405-1, thereby adjusting the gathering height of the hugging-style gathering device. The power system 401 is located behind the cutting device, and its output shaft is connected to the lower horizontal gathering device 403 via the output connecting rod 402. The lower horizontal gathering device 403, the middle horizontal gathering device 404, and the upper horizontal gathering device 405 are connected to the frame via a transmission linkage mechanism 406, allowing the lower horizontal gathering device 403, the middle horizontal gathering device 404, and the upper horizontal gathering device 405 to rotate in a circular motion around the end of the output connecting rod 402 in a horizontal plane under the drive of the output connecting rod 402. The lower horizontal gathering device 403, the middle horizontal gathering device 404, and the upper horizontal gathering device 405 are respectively equipped with fixed teeth 403-2, movable teeth 404-4, and movable fingers 405-4.

[0056] Specifically, such as Figure 6 As shown, the lower horizontal gathering device 403 is located above the power system 401 and includes a crossbar 403-1 and several teeth 403-2. The crossbar 403-1 is connected to the output shaft of the power system 401 via an output connecting rod 402, and can rotate in a circular motion and reciprocate in the horizontal plane under the drive of the output connecting rod 402 and the constraint of the transmission connecting rod mechanism 406. The teeth 403-2 are fixedly installed on the crossbar 403-1, facing the forward direction of the harvester and forming an arc shape. The teeth 403-2 on the left and right sides of the lower horizontal gathering device 403 are symmetrical, and the specific number needs to be determined according to the actual operation requirements.

[0057] like Figure 7 , Figure 8 As shown, the middle-layer horizontal gathering device 404 is fixed to the thrust motor support frame 404-2 via several thrust motors 404-1 and is located above the lower-layer horizontal gathering device 403. The thrust motors 404-1 are fixed inside the thrust motor support frame 404-2; the bottom of the thrust motor support frame 404-2 is connected to the lower-layer horizontal gathering device 403, and the top is connected to the middle-layer connecting rod 404-3; the several thrust motors 404-1 adjust the vertical distance between the lower-layer horizontal gathering device 403 and the middle-layer horizontal gathering device 404.

[0058] The middle-layer horizontal retracting device 404 includes a middle-layer connecting rod 404-3, movable teeth 404-4, a drive motor 404-5, a motor connecting rod 404-6, and a rear connecting rod 404-7. There are several movable teeth 404-4. The middle layer of the extension of the middle-layer connecting rod 404-3 is hollow and has several equally spaced through holes, the number of which matches the number of movable teeth 404-4. The rear connecting rod 404-7 has two layers, and the number and spacing of its through holes are the same as those on the middle-layer connecting rod 404-3. The rear connecting rod 404-7 is parallel to the middle-layer connecting rod 404-3. The movable teeth 404-4 have a straight root and two round holes. The front hole is coaxially fitted with the through hole at the middle-layer connecting rod 404-3, and the rear hole is coaxially fitted with the through hole at the rear connecting rod 404-7. The number of movable teeth 404-4 needs to be determined according to actual operation requirements. The drive motor 404-5 is installed at the middle connecting rod 404-3, with its output shaft connected to one end of the motor connecting rod 404-6, and the other end of the motor connecting rod 404-6 connected to the rear connecting rod 404-7. The distance between the two holes on the motor connecting rod 404-6 is equal to the distance between the two holes on the movable teeth 404-4, and they are parallel to the movable teeth 404-4. Each movable tooth 404-4 forms a parallel four-bar linkage with the middle connecting rod 404-3, the motor connecting rod 404-6, and the rear connecting rod 404-7. During operation, the drive motor 404-5 drives the motor connecting rod 404-6 to rotate in the horizontal plane, causing the movable teeth 404-4 to rotate, thereby achieving angle control of the movable teeth 404-4.

[0059] The middle layer horizontal gathering device 404 consists of a middle layer connecting rod 404-3, movable teeth 404-4, a motor connecting rod 404-6, and a rear connecting rod 404-7 forming a four-bar linkage mechanism. The rear straight section of the movable teeth 404-4 is parallel to the motor connecting rod 404-6. The drive motor 404-5 drives the motor connecting rod 404-6 to rotate, and then through the rear connecting rod 404-7, the movable teeth 404-4 can rotate 30°-150° in the horizontal plane.

[0060] like Figure 9 , Figure 10As shown, the upper horizontal gathering device 405 is located above the middle horizontal gathering device 404. The middle horizontal gathering device 404 and the upper horizontal gathering device 405 are fixedly connected by several thrust motors 405-1 and thrust motor support frames 405-2. The thrust motors 405-1 are fixed inside the thrust motor support frames 405-2; the bottom of the thrust motor support frames 405-2 is connected to the middle horizontal gathering device 404; the vertical distance between the middle horizontal gathering device 404 and the upper horizontal gathering device 405 is adjusted by the several thrust motors 405-1. The upper-layer horizontal retracting device has a similar structure to the middle-layer horizontal retracting device, including an upper-layer connecting rod 405-3, a movable finger 405-4, a stepper motor 405-5, and a lead screw 405-6. Several movable fingers 405-4 are present, each with a circular hole and an internally threaded sleeve at its root. The circular hole is hinged to the upper-layer connecting rod 405-3. The internally threaded sleeve is threadedly connected to the lead screw 405-6, located at the rear of the upper-layer connecting rod 405-3. The stepper motor 405-5 is fixed to the upper-layer connecting rod 405-3, and the lead screw 405-6 is fixedly connected to the output shaft of the stepper motor 405-5. The lead screw 405-6 is located in a horizontal plane and parallel to the upper-layer connecting rod 405-3. The stepper motor 405-5 drives the lead screw 405-6 to rotate, causing the movable shift finger 405-4 to rotate around the hinge point with the upper connecting rod 405-3, thereby changing the angle of the movable shift finger 405-4 in the horizontal plane. The stepper motor 405-5, through the rotation of the lead screw 405-6, drives the movable shift finger 405-4 to rotate around the upper connecting rod 405-3 in the horizontal plane from 30° to 150°.

[0061] The transmission linkage mechanism 406 has two parts, left and right, which respectively connect the frame to the lower horizontal gathering device 403 and the upper horizontal gathering device 405; the lower horizontal gathering device 403, the middle horizontal gathering device 404, and the upper horizontal gathering device 405 are non-rotatable. The power system 401 is located behind the cutting device 2 and at the bottom of the lower horizontal gathering device 403; the power system 401 drives the output linkage 402 to rotate in a circular motion in the horizontal plane about one end of the output linkage 402 as the axis; the rotation direction of the output linkage 402 is consistent with the material movement direction of the Apocynum venetum.

[0062] Specifically, such as Figure 11As shown, the transmission linkage mechanism 406 includes a left linkage mechanism and a right linkage mechanism. The left linkage mechanism includes a first link 406-1 hinged to the left frame 801, a second link 406-2 hinged to the first link 406-1, and a third link 406-3 with one end fixed to the second link 406-2 and the other end fixedly connected to the upper second thrust motor support frame 405-2. The other end of the second link 406-2 is fixedly connected to the middle layer horizontal gathering device 404.

[0063] The right-side linkage mechanism includes a fourth link 406-4 hinged to the right-side frame 802, a fifth link 406-5 hinged to the fourth link 406-4, and a sixth link 406-5 with one end fixed to the fifth link 406-6 and the other end fixedly connected to the lower horizontal retracting device 403. The other end of the fifth link 406-6 is fixedly connected to the second thrust motor support frame 405-2.

[0064] like Figure 3 As shown, the conveying system includes an upright conveying system 301, a height-adjustable crop pressing device 302, and a bottom conveying system 303. The upright conveying system 301 is installed above the cutting device 2, located between the lower horizontal gathering device 403 and the middle horizontal gathering device 404. The crop pressing device 302 is located behind the embracing gathering device 4 and its height is adjustable. The bottom conveying system 303 is located below the chassis 5 and is symmetrically arranged on both sides.

[0065] like Figure 12As shown, the vertical conveyor system 301 includes two symmetrical first conveyor belt devices. Each first conveyor device has a 90-120° bend, which divides the vertical conveyor system 301 into a crop guiding and gathering section and a transmission section. The first conveyor belt device includes a first motor bracket 301-1, a header motor 301-2, a synchronous pulley 301-3, a synchronous belt 301-4, a variable diameter drum 301-5, a conveyor belt 301-6, a conveyor belt guard 301-7, a tensioning pulley bracket 301-8, a tensioning pulley 301-9, and a steering drum 301-10. The conveyor belt guard 301-7 has a 90-120° bend. The two first motor brackets 301-1 are respectively fixedly installed at both ends of the two conveyor belt guards 301-7, forming the basic frame of the first conveyor belt device. Each of the first motor brackets 301-1 is equipped with a cutting table motor 301-2 and a variable diameter drum 301-5. A synchronous pulley 301-3 is fixedly mounted on the output shaft of the cutting table motor 301-2 and on the variable diameter drum 301-5, respectively. The two synchronous pulleys 301-3 are connected by a synchronous belt 301-4. The first motor 301-2, located at the same end, and the variable diameter drum 301-5 are driven by the synchronous pulleys 301-3 and the synchronous belt 301-4. The motor 301-2 drives the variable diameter drum 301-5 to rotate via the synchronous belt 301-4. A tensioning pulley 301-9 and a steering drum 301-10 are located at the corners of the conveyor belt enclosures 301-7. The steering drum 301-10 is installed between the two conveyor belt enclosures 301-7. The tensioning pulley 301-9 is connected to the steering drum 301-10 via a tensioning pulley bracket 301-8. The first conveyor belt 301-6 has its two ends respectively fitted onto the outer ends of two variable-diameter rotating drums 301-5, and its middle section wraps around a steering rotating drum 301-10 with its inner side in close contact with a tensioning pulley 301-9. At corners, the tensioning pulley 301-9 and the steering rotating drum 301-10 enable the first conveyor belt 301-6 to rotate. By adjusting the tensioning pulley 301-9, the conveyor belt 301-6 is tensioned, thereby allowing the variable-diameter rotating drum 301-5 to drive the conveyor belt 301-6 to rotate together when it rotates.

[0066] During operation, the motors 301-2 at the four cutting stations rotate at the same speed, driving the variable-diameter drum 301-5 to rotate via the synchronous pulley 301-3 and synchronous belt 301-4, thereby driving the first conveyor belt 301-6. The transmission speed of the transmission section is the same as the forward speed of the baler, but the transmission direction is opposite to the forward direction of the baler. The distance between the left and right first conveyor belts 301-6 at the transmission section of the vertical conveyor system 301 for the Apocynum venetum to pass through is slightly smaller than the distance between the top plates of the two cutting stations, so that the Apocynum venetum has a certain pressure when passing through. When the cut Apocynum venetum passes through the vertical conveyor system 301 at the cutting station, the transportation speed can be accelerated to reduce congestion. When the amount of Apocynum venetum harvested changes, the angle between the first conveyor belt 301-6 and the forward direction is adjusted by adjusting the diameter of the variable-diameter drum 301-5, thereby adjusting the clamping force on the Apocynum venetum. During the diameter adjustment process, the two variable diameter rotating drums 301-5 located on the same side simultaneously change their diameters in opposite directions, thereby maintaining the tension of the first conveyor belt 301-6 while adjusting the clamping force on the Apocynum venetum.

[0067] like Figure 13As shown, the variable diameter rotary drum 301-5 includes a rotary drum motor 301-5-1, a threaded shaft 301-5-2, an internally threaded slide 301-5-3, a bearing 301-5-4, a circular connecting plate 301-5-5, a rotary drum connecting rod 301-5-6, and a strip-shaped arc plate 301-5-7. The threaded shaft 301-5-2 has reverse external threads at both ends. The upper and lower ends of the threaded shaft 301-5-2 pass through the upper and lower conveyor belt enclosures 301-7 and are coaxially fitted with holes on the first motor bracket 301-1. The lower end of the threaded shaft 301-5-2 is connected to the output shaft of the rotary drum motor 301-5-1, which is fixed to the lower end of the first motor bracket 301-1. Two internally threaded slides 301-5-3 are threadedly connected to both ends of the threaded shaft 301-5-2. A circular connecting plate 301-5-5 is mounted on the outside of the slide table 301-5-3 via a bearing 301-5-4. Multiple strip-shaped arc plates 301-5-7 are connected to the circular connecting plate 301-5-5 via rotating cylinder connecting rods 301-5-6 and are distributed circumferentially. The two ends of the rotating cylinder connecting rods 301-5-6 are hinged to the circular connecting plate 301-5-5 and the strip-shaped arc plates 301-5-7, respectively. The strip-shaped arc plates 301-5-7, the rotating cylinder connecting rods 301-5-6, and the circular connecting plate 301-5-5 together form the outer ring of the variable-diameter rotating cylinder, which can rotate around the threaded shaft 301-5-2 via the bearing 301-5-4. The rotary drum motor 301-5-1 drives the threaded shaft 301-5-2 to rotate, which in turn drives the slide table 301-5-3 to move axially, thereby causing the circular connecting plate 301-5-5 to move axially. The threaded shaft 301-5-2, the strip-shaped arc plate 301-5-7, and the two rotary drum connecting rods 301-5-6 form an isosceles trapezoid with the rotary drum connecting rod 301-5-6 as the waist, thereby converting the axial movement of the slide table 301-5-3 into the radial movement of the strip-shaped arc plate 301-5-7, thus changing the diameter of the variable diameter rotary drum 301-5.

[0068] like Figure 14 , Figure 15As shown, the crop pressing plate device 302 includes a base 302-1, a second motor bracket 302-2, a second motor 302-3, a support platform 302-4, a first pin 302-5, a coupling 302-6, a pressing plate 302-7, a side support frame 302-8, and a second pin 302-9. The base 302-1 and the side support frame 302-8 are fixed to the machine frame. The base 302-1 has several pairs of evenly distributed circular holes and is fixed to the machine frame. The support platform 302-4 is mounted on the base 302-1 via a first pin 302-5. The lower end of the second motor bracket 302-2 is connected to the support platform 302-4, and the second motor 302-3 is fixed to the upper end of the second motor bracket 302-2. One end of the pressure plate 302-7 is connected to the output end of the second motor 302-3 via a coupling 302-6, and the axis of the pressure plate 302-7 is located in a horizontal direction perpendicular to the forward direction of the harvester. The other end of the pressure plate 302-7 is connected to the side support frame 302-8 fixed to the machine frame via a second pin 302-9. The circular holes on the base 302-1 correspond to the circular holes on the side support frame 302-8, making the axis of the pressure plate 302-7 parallel to the horizontal plane. The second motor 302-3 drives the pressure plate 302-7 to rotate via the coupling 302-6.

[0069] The crop pressing plate 302-7 device 302 is located in front of the cab and above and behind the embracing and gathering device 4; the paired circular holes on the base 302-1 are arranged in a linear array at certain intervals in the vertical direction; the pin adjusts the height of the support platform 302-4 by passing through different circular holes on the base 302-1 so that the pressing plate 302-7 contacts the Apocynum venetum; the paired circular holes on both sides of the side support frame 302-8 correspond in height to the circular holes on the base 302-1; the center of the rotating shaft of the pressing plate 302-7 is located in the horizontal direction, and the rotation direction is consistent with the forward direction of the Apocynum venetum, so as to make the Apocynum venetum pass through quickly by simultaneously applying squeezing and pushing forces.

[0070] like Figure 16 , Figure 17As shown, the bottom conveyor device 303 includes two second conveyor belt devices symmetrically arranged on the left and right sides, with conveying directions opposite to the forward direction of the baler harvester, and the conveyor belts having an angle of 30° to 60° with the horizontal plane. The second conveyor belt devices include a second motor bracket 303-1 fixed to the frame, a third motor 303-2, a conveyor belt shaft 303-3, a first gear 303-4, a second gear 303-5, and a second conveyor belt 303-6. The second motor bracket 303-1 is used to fix the third motor 303-2 at a certain angle to the horizontal plane. The third motor 303-2, the drive shaft 303-3, and the driven shaft are all fixed to the lower end of the second motor bracket 303-1. The third motor 303-2 and the drive shaft 303-3 are connected by meshing first gear 303-4 and second gear 303-5. The second conveyor belt 303-6 is assembled between the drive shaft 303-3 and the driven shaft and extends along the forward direction of the harvester. Specifically, the output shaft of the third motor 303-2 is fixedly connected to the first gear 303-4, and the middle part of the conveyor belt shaft 303-3 is fixed to the second gear 303-5. During operation, the rotation of the third motor 303-2, through the transmission of the first gear 303-4 and the second gear 303-5, drives the second conveyor belt 303-6 outside the conveyor belt shaft 303-3 to rotate in the same direction as the forward direction. The second conveyor belt 303-6 contacts and compresses the baled Apocynum venetum, moving the Apocynum venetum towards the rear of the baler to prevent blockage at the bottom.

[0071] The bottom conveyor device 303 is installed on the left and right sides of the chassis 5 of the Apocynum venetum cutter and harvester; the angle between the axis of the conveyor belt shaft 303-3 and the horizontal is 30-60°; the transmission speed of the conveyor belt is the same as the forward speed of the chassis 5; the transmission direction of the conveyor belt is the same as the movement direction of the Apocynum venetum, and the length needs to be determined according to the actual harvesting requirements.

[0072] The control method for the described clump-type Apocynum venetum cutter and harvester is characterized in that the adaptive control process of the control system 7 includes the following steps:

[0073] (1) Construct a morphological model database of Apocynum venetum clumps. The harvesting speed, height and width of the Apocynum venetum clumps to be harvested are detected by the speed sensor, clump height sensor and clump width sensor of the pre-harvest detection system 1. The collected speed, height and width information is transmitted to the control system 7 for analysis. The height and width of the Apocynum venetum clumps are recorded, and the weight, density and number of plants of the clumps are recorded. A morphological model database of Apocynum venetum clumps with height and width as indicators is established.

[0074] (2) During the harvesting of Apocynum venetum, the height and width of the Apocynum venetum clumps to be harvested are detected in real time by the clump height sensor and clump width sensor of the pre-harvest detection system 1, and compared with the morphological model database to obtain the approximate morphological model of the clumps; at the same time, the speed sensor detects the harvesting speed of the baler harvester in real time.

[0075] (3) The control system 7 drives the thrust motor in real time according to the detected clump height so that the hugging height of the hugging device 4 is adapted to the height of the Apocynum venetum clump to be harvested.

[0076] Based on the harvesting speed detected by the speed sensor and the width of the tuft of Apocynum venetum to be harvested, the working parameters of the power system 401, drive motor 404-5, and stepper motor 405-5 are controlled to make the reciprocating speed of the gathering device and the rotation speed of the movable teeth 404-4 and the movable fingers 405-4 adapt to the harvesting speed.

[0077] Based on the harvesting speed detected by the speed sensor 102, the transmission speed of the first conveyor belt 301-6 is controlled to be slightly greater than the forward speed of the baler harvester. The transmission speed of the conveyor belt 303-6 of the bottom conveyor system 303 is the same as the forward speed of the baler harvester, and the transmission direction is opposite to the forward direction of the baler harvester.

[0078] In conjunction with the width of the Apocynum venetum clumps to be harvested, the rotary drum motor 301-5-1 is controlled to adjust the diameter of the variable diameter rotary drum 301-5, thereby adjusting the angle between the first conveyor belt 301-6 and the forward direction to adjust the clamping force on the Apocynum venetum. During this process, the two variable diameter rotary drums 301-5 located on the same side simultaneously change their diameters in opposite directions, thereby maintaining the tension of the first conveyor belt 301-6 while adjusting the clamping force on the Apocynum venetum.

[0079] The embodiments described above are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A husking-type Apocynum venetum cutter and harvester, characterized in that, It includes a pre-cutting inspection system (1), a cutting device (2), a conveying system (3), a hugging and gathering device (4), a chassis (5), a knotter (6), and a control system (7); The pre-harvest detection system (1) includes a cluster height sensor, a cluster width sensor and a speed sensor, which are used to detect the height and width of the Apocynum venetum clusters to be harvested and the harvesting speed of the harvester, and transmit the data to the control system (7). The cutting device (2) is located in front of the chassis (5), and the embracing-type gathering device (4) is located above the front of the cutting device (2). It includes a power system (401), an output linkage (402), a transmission linkage mechanism (406), and a lower horizontal gathering device (403), a middle horizontal gathering device (404), and an upper horizontal gathering device (405) that are stacked on top of each other and connected by a thrust motor. The power system (401) is located behind the cutting device, and its output shaft is connected to the lower horizontal gathering device (403) through the output linkage (402). The lower horizontal gathering device (403), the middle horizontal gathering device (404), and the upper horizontal gathering device (405) are stacked on top of each other and connected by a thrust motor. The lower horizontal gathering device (404) and the upper horizontal gathering device (405) are connected to the frame through a transmission linkage mechanism (406), so that the lower horizontal gathering device (403), the middle horizontal gathering device (404), and the upper horizontal gathering device (405) as a whole rotate in a circular motion around the end of the output linkage (402) in the horizontal plane under the drive of the output linkage (402); the lower horizontal gathering device (403), the middle horizontal gathering device (404), and the upper horizontal gathering device (405) are respectively provided with fixed teeth (403-2), movable teeth (404-4), and movable fingers (405-4); The conveying system (3) includes an upright conveying system (301), a height-adjustable crop pressing device (302), and a bottom conveying system (303). The upright conveying system (301) includes two first conveyor belt devices with corners, installed above the cutting device (2), located between the lower horizontal gathering device (403) and the middle horizontal gathering device (404), and symmetrically positioned on the left and right. The two first conveyor belt devices constitute a crop guiding and gathering section and a transmission section. The two ends of the first conveyor belt devices are driven by variable diameter rotating drums (301-5), and the diameter of the variable diameter rotating drums (301-5) is adjusted to change the crop's shape. The transmission gap at the transmission section of the two first conveyor belt devices; the crop pressing plate device (302) is installed in an adjustable position above and behind the vertical conveying system (301) and in front of the cab, including a motor (302-3) and a pressing plate (302-7) driven by the motor (302-3); the bottom conveying system (303) is installed below the chassis of the baler harvester, including two second conveyor belt devices whose transmission direction is opposite to the forward direction of the baler harvester and whose conveyor belts have an angle of 30-60° with the horizontal plane, and the two second conveyor belt devices are symmetrically arranged on the left and right sides of the chassis (5) of the baler harvester; The knotter (6) is located behind the vertical conveying system (301) and is used to tie the cut Apocynum venetum stems into bundles. The control system (7) is connected to the pre-cutting detection system (1), the cutting device (2), the conveying system (3), the hugging and gathering device (4), the chassis (5), and the knotter (6); the control system (7) adjusts the operation of the conveying system (3) and the hugging and gathering device (4) according to the data monitored by the pre-cutting detection system (1).

2. The embracing-type Apocynum venetum cutter and harvester according to claim 1, characterized in that, The first conveyor belt device of the vertical conveyor system (301) includes a transmission frame consisting of two first motor supports (301-1) and a conveyor belt enclosure (301-7), a tensioning wheel (301-9) and a steering drum (301-10) mounted at the corner of the enclosure, a cutting table motor (301-2) and a variable diameter drum (301-5) mounted on the first motor supports (301-1), for driving connection of the cutting table motor (301-2). The first conveyor belt (301-6) is equipped with a synchronous pulley (301-3) and a synchronous belt (301-4) for the variable diameter drum (301-5). The two synchronous pulleys (301-3) are respectively installed on the output end of the motor (301-2) and the variable diameter drum (301-5), and the two synchronous pulleys (301-3) are connected by a synchronous belt (301-4). The two ends of the first conveyor belt (301-6) are respectively sleeved on the outer ends of the two variable diameter drums (301-5).

3. The embracing-type Apocynum venetum cutter and harvester according to claim 2, characterized in that, The variable diameter rotary drum (301-5) includes a rotary drum motor (301-5-1), a threaded shaft (301-5-2) connected to the output shaft of the rotary drum motor (301-5-1) and having reverse external threads at both ends, an internally threaded slide (301-5-3) threadedly connected to the threaded shaft (301-5-2), a circular connecting plate (301-5-5) mounted on the outside of the slide (301-5-3) via a bearing (301-5-4), and a plurality of strip-shaped arc plates (301-5-7) connected to the circular connecting plate (301-5-5) via a rotary drum connecting rod (301-5-6) and distributed in a circular pattern.

4. The embracing-type Apocynum venetum cutter and harvester according to claim 1, characterized in that, The crop pressing device (302) includes a pressing plate motor (302-3), a pressing plate (302-7) whose one end is connected to the output end of the pressing plate motor (302-3) via a coupling (302-6), a second motor bracket (302-2) for fixing the pressing plate motor (302-3), and the other ends of the second motor bracket (302-2) and the pressing plate (302-7) are respectively mounted on the outer shell (302-1) and the side support frame (302-8) fixed to the frame via pin 1 (302-5) and pin 2 (302-9).

5. The embracing-type Apocynum venetum cutter and harvester according to claim 1, characterized in that, The second conveyor belt device of the bottom conveyor system (303) includes a bottom motor (303-2), a conveyor belt shaft (303-3), and a conveyor belt (303-6). The bottom motor (303-2) and the conveyor belt shaft (303-3) are both mounted on the bottom of the chassis through a frame-motor connecting bracket (303-1). The conveyor belt (303-6) is mounted on two conveyor belt shafts (303-3). The bottom motor (303-2) is connected to one of the conveyor belt shafts (303-3) through a gear set.

6. The embracing-type Apocynum venetum cutter and harvester according to claim 1, characterized in that, The transmission linkage mechanism (406) includes a left linkage mechanism and a right linkage mechanism. The left linkage mechanism includes a first link (406-1) hinged to the left frame (801), a second link (406-2) hinged to the first link (406-1), and a third link (406-3) with one end fixed to the second link (406-2) and the other end fixedly connected to the upper second thrust motor support frame (405-2). The other end of the second link (406-2) is fixedly connected to the middle layer horizontal gathering device (404). The right-side linkage mechanism includes a fourth link (406-4) hinged to the right-side frame (802), a fifth link (406-5) hinged to the fourth link (406-4), and a sixth link (406-5) with one end fixed to the fifth link (406-6) and the other end fixedly connected to the lower horizontal retracting device (403). The other end of the fifth link (406-6) is fixedly connected to the second thrust motor support frame (405-2).

7. The embracing-type Apocynum venetum cutter and harvester according to claim 6, characterized in that, The middle layer horizontal retracting device (404) includes a middle layer connecting rod (404-3), movable teeth (404-4), a drive motor (404-5), a motor connecting rod (404-6), and a rear connecting rod (404-7). There are several movable teeth (404-4), the roots of which are hinged to the middle layer connecting rod (404-3), and the ends of which are hinged to the rear connecting rod (507). The drive motor (404-5) is fixed to the middle layer connecting rod (404-3), and its output shaft is perpendicular to the plane of the middle layer connecting rod (404-3). The rear connecting rod (404-6)... The end of 04-7) is hinged to the output end of the drive motor (404-5) via the motor connecting rod (404-6); the middle connecting rod (404-3), the movable teeth (404-4), the motor connecting rod (404-6) and the rear connecting rod (404-7) form a four-bar linkage mechanism, and the straight line at the root of the movable teeth (404-4) is parallel to the motor connecting rod (404-6); the drive motor (404-5) drives the motor connecting rod (404-6) to rotate, and then through the rear connecting rod (404-7) the movable teeth (404-4) can complete a rotation of 30°-150° in the horizontal plane.

8. The embracing-type Apocynum venetum cutter and harvester according to claim 6, characterized in that, The upper horizontal retracting device (405) includes an upper connecting rod (405-3), movable fingers (405-4), a stepper motor (405-5), and a lead screw (405-6). Several movable fingers (405-4) are hinged at their roots to the upper connecting rod (405-3), and their ends are threaded to the lead screw (405-6). The stepper motor (405-5) is fixed to the upper connecting rod (405-3), and its output end is connected to the lead screw (405-6). The lead screw (405-6) is located in the horizontal plane and is parallel to the upper connecting rod (405-3). The stepper motor (405-5) drives the movable fingers (405-4) to rotate 30° to 150° in the horizontal plane around the hinge point between the stepper motor (405-6) and the upper connecting rod (405-3) through the rotation of the lead screw (405-6).

9. The embracing-type Apocynum venetum cutter and harvester according to claim 4, characterized in that, The lower end of the second motor bracket (302-2) of the crop pressing device (302) is connected to the support platform (302-4); the support platform (302-4) has two round holes, and a number of pairs of round holes are evenly distributed on the outer shell (302-1); the first pin (302-5) passes through the two round holes on the outer shell (302-1) and the support platform (302-4) and fixes them. The side support frame (302-8) has a long groove in the middle, which allows the other end of the pressure plate (302-7) to slide in the groove; the side support frame (302-8) has a pair of round holes on both sides; the second pin (302-9) has a round hole inside, which fixes the other end of the pressure plate (302-7) on the side support frame (302-8).

10. The control method for the clump-type Apocynum venetum cutter and harvester according to any one of claims 1-9, characterized in that, The adaptive control process of the control system (7) includes the following steps: (1) Construct a morphological model database of Apocynum venetum clumps. The harvesting speed, height and width of the Apocynum venetum clumps to be harvested are detected by the speed sensor, clump height sensor and clump width sensor of the pre-harvest detection system (1). The collected speed, height and width information is transmitted to the control system (7) for analysis. The height and width of the Apocynum venetum clumps are recorded, and the weight, density and number of plants of the clumps are recorded. A morphological model database of Apocynum venetum clumps with height and width as indicators is established. (2) During the harvesting of Apocynum venetum, the height and width of the Apocynum venetum clumps to be harvested are detected in real time by the clump height sensor and clump width sensor of the pre-harvest detection system (1), and compared with the morphological model database to obtain the approximate morphological model of the clumps; at the same time, the speed sensor detects the harvesting speed of the baler harvester in real time. (3) The control system (7) drives the thrust motor in real time according to the detected cluster height so that the hugging height of the hugging device (4) is adapted to the height of the Apocynum venetum cluster to be harvested. Based on the harvesting speed detected by the speed sensor and the width of the tuft of Apocynum venetum to be harvested, the working parameters of the power system (401), drive motor (404-5), and stepper motor (405-5) are controlled to make the reciprocating speed of the gathering device and the rotation speed of the movable teeth (404-4) and movable fingers (405-4) adapt to the harvesting speed. Based on the harvesting speed detected by the speed sensor, the transmission speed of the first conveyor belt (301-6) is controlled to be slightly greater than the forward speed of the baler harvester. The transmission speed of the conveyor belt (303-6) of the bottom conveyor system (303) is the same as the forward speed of the baler harvester, and the transmission direction is opposite to the forward direction of the baler harvester. In conjunction with the width of the Apocynum venetum clumps to be harvested, the rotary drum motor (301-5-1) is controlled to adjust the diameter of the variable diameter rotary drum (301-5) to adjust the angle between the first conveyor belt (301-6) and the forward direction, thereby adjusting the clamping force on the Apocynum venetum. During this process, the two variable diameter rotary drums (301-5) on the same side simultaneously change their diameters in opposite directions, thereby adjusting the clamping force on the Apocynum venetum while maintaining the tension of the first conveyor belt (301-6).

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