Self-adapting depth-adjusting codonopsis pilosula harvesting device

Abstract

The present application relates to the technical field of intelligent agricultural machinery, and especially relates to a self-adaptive depth-adjustable codonopsis pilosula harvesting device, which comprises a mounting frame configured to be hung on a rear three-point suspension of a tractor, two first hydraulic cylinders vertically arranged at left and right ends of the mounting frame, a rotating column hinged to a lower end of a piston rod of each first hydraulic cylinder, a rack horizontally arranged between the two rotating columns and rotationally connected to the corresponding rotating column through two walls, and a walking wheel assembly arranged at a bottom of the rack. The device can realize real-time sensing of the terrain through a profiling adjustment assembly. When the roller touches the ground, the compression spring triggers the contact switch to automatically cut off the descending loop of the first hydraulic cylinder, so that the digging rack can maintain a preset digging angle, thereby avoiding root damage caused by excessive digging depth or incomplete digging caused by insufficient digging depth, and significantly improving the harvesting completeness and the terrain adaptability, and the device is especially suitable for complex plots such as hilly areas.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural machinery technology, and in particular to an adaptive depth-adjustable Codonopsis pilosula harvesting device. Background Technology

[0002] In the Chinese medicinal herb cultivation industry, Codonopsis pilosula, as an important deep-rooted medicinal plant, has long relied on manual digging for harvesting. Because the main root of Codonopsis pilosula is fleshy and tender, and its depth in the soil is usually 20-30 cm, and the terrain in the field is uneven, manual digging is not only labor-intensive and inefficient, but also very easy to break or damage the roots due to improper force, which significantly reduces the commercial grade and economic value of the medicinal material.

[0003] However, most existing harvesters for root and tuber crops use a fixed digging shovel structure, whose insertion depth needs to be preset manually before operation, making it impossible to adapt to changes in field elevation in real time. When the equipment travels over furrows, ridges, or slopes, the digging components are prone to problems such as "over-digging and damaging roots" or "under-digging and missing areas" due to inaccurate ground clearance. Especially in the hilly and mountainous areas common in Codonopsis pilosula planting areas, the terrain is frequently undulating, making it difficult for fixed-depth digging devices to operate stably, severely restricting the applicability and reliability of mechanical harvesting. To improve adaptability, some improved models have introduced contour-following ground wheels or mechanical linkage mechanisms to passively adjust the overall height by following the ground contour. However, such structures can only achieve overall lifting and lowering, and cannot independently control the insertion depth of the digging components, and have lag in response and limited adjustment precision. More importantly, its digging action is still a single rigid insertion, lacking targeted protection for the characteristics of Codonopsis pilosula roots, and cannot simulate the flexible operation logic of manual "probe-loosen-lift," resulting in a persistent bottleneck in harvest integrity.

[0004] To address the aforementioned issues, there is an urgent need for an intelligent excavation system with proactive sensing capabilities and an adaptive execution mechanism. This system should be able to automatically identify the starting point of the operation when the equipment approaches the ground and drive the excavation components to dynamically extend to a suitable depth, achieving "fitting to the ground and precise entry into the soil." This would truly solve the problem of terrain adaptability and provide technical support for the transition of Codonopsis pilosula harvesting from "mechanization" to "intelligentization." Summary of the Invention

[0005] In order to overcome the shortcomings of existing harvesting devices that cannot adaptively adjust the digging depth according to the terrain, resulting in root damage and missed digging, this invention provides an adaptive depth-adjustable Codonopsis pilosula harvesting device.

[0006] An adaptive depth-adjustable Codonopsis pilosula harvesting device includes: a mounting frame configured to attach the device to the rear three-point suspension of a tractor; two first hydraulic cylinders vertically disposed at the left and right ends of the mounting frame, each first hydraulic cylinder having a rotating column hinged to its lower piston rod; a frame horizontally mounted between the two rotating columns, with its two walls rotatably connected to the corresponding rotating columns; a wheel assembly disposed at the bottom of the frame, including a horizontal axle and ground wheels fixedly mounted at both ends of the horizontal axle, the frame being rotatably connected to the horizontal axle; and rotating blocks symmetrically rotatably connected to the frame. A toggle frame is slidably connected longitudinally between the two rotating blocks, and is inclined at the front and higher at the back; a digging frame is slidably embedded longitudinally in the front cavity of the toggle frame; a second hydraulic cylinder is installed in the left and right side walls of the toggle frame, and its piston rod front end is fixedly connected to the digging frame, used to drive the digging frame to extend and retract to control the soil penetration depth; a variable speed turning and throwing drive assembly is set on the frame, used to drive the toggle frame to reciprocate and rotate; a contour adjustment assembly is set on the frame, used to control the extension length of the piston rod of the first hydraulic cylinder, so as to realize adaptive adjustment of the digging depth.

[0007] More preferably, the variable speed tumbling drive assembly includes: a drive disk, symmetrically rotated and mounted on both sides of the frame; a deflector pin, disposed at the eccentric position of each drive disk; and an elongated pin hole that mates with the deflector pin on the side wall of the deflector frame, wherein the deflector pin is slidably inserted into the pin hole, thereby forming a crank-rocker mechanism that converts the rotational motion of the drive disk into the reciprocating oscillation of the deflector frame.

[0008] More preferably, the variable speed tumbling drive assembly further includes a power transmission assembly for driving the drive disk to rotate. The power transmission assembly includes: a fixed frame, symmetrically fixed to the frame on the left and right; a motor, installed in each fixed frame; a rotating shaft, coaxially fixed to the output shaft of the motor via a coupling; a first missing gear and a second missing gear, sequentially sleeved and fixed to the rotating shaft along the axial direction; and a first full gear and a second full gear, coaxially fixed to the outer end of the drive disk. The second missing gear meshes with the second full gear, and the first missing gear meshes with the first full gear, forming a dual-speed switching transmission structure with alternating meshing.

[0009] More preferably, the toothed arc segment of each of the second missing gears occupies two-thirds of the circumference, and the toothless arc segment occupies one-third; the toothed arc segment of the first missing gear occupies one-eighth of the circumference, and the toothless arc segment occupies seven-eighths; the second full gear and the second missing gear have the same module, and the second missing gear and the second full gear form a meshing transmission pair in the toothed arc segment; the pitch circle diameter of the first full gear is half that of the second full gear, forming a speed-increasing transmission; the pitch circle diameter of the first missing gear is twice that of the second missing gear.

[0010] More preferably, the contouring adjustment assembly includes: a rotating rod, symmetrically rotated and mounted below the frame; a push rod, vertically slidably embedded in the inner cavity of each rotating rod; a return spring, connected between the push rod and the rotating rod, for providing preload and floating contouring buffer; a contact switch, mounted on the top of each push rod, its signal output terminal electrically connected to the control valve group of the adjacent first hydraulic cylinder; and a contouring roller, rotatably mounted on the bottom of each push rod.

[0011] More preferably, it also includes a locking assembly for angle locking of the rotating column, the locking assembly comprising: a locking ring, coaxially fixed to the outer end of the rotating column, with positioning grooves evenly distributed on its outer circumferential surface; a limiting rod, rotatably connected to the left and right side walls of the frame via a pin, with a limiting tooth at its front end that mates with the groove of the locking ring; and a cylinder, symmetrically mounted on the side wall of the frame, with its piston rod end rotatably connected to the rear end of the adjacent limiting rod, for driving the limiting rod to swing to achieve locking or releasing.

[0012] More preferably, the device also includes a storage assembly for controlling the swing of the rotating rod. This storage assembly includes: a mounting rod, fixedly connected to the base of the rotating rod; and a connecting rod, the lower end of which is rotatably connected to the end of the mounting rod, and the upper end of which is rotatably connected to the middle of the adjacent limiting rod. When the limiting rod is locked in place, the connecting rod and mounting rod drive the rotating rod to swing backward and upward, causing the contour roller to retract off the ground.

[0013] More preferably, the base plate of the actuating frame is constructed as a grid-type filter plate to achieve soil-material separation.

[0014] Beneficial effects: This device uses contour-following adjustment components (rotating rod, push rod, spring, contact switch, and roller) to sense ground undulations in real time. When the roller at the bottom of the push rod touches the ground, the compressed spring triggers the contact switch, automatically cutting off the downward circuit of the first hydraulic cylinder, so that the excavator always maintains the preset soil inclination angle. This mechanism completely solves the problems of "over-depth root damage" or "over-shallow excavation" caused by terrain changes in traditional fixed-depth excavation devices, significantly improving the integrity and adaptability of Codonopsis pilosula harvesting, and is especially suitable for complex terrains such as hilly and mountainous areas.

[0015] This device employs a variable speed drive assembly combining missing and full gears: first, the second gear pair (second missing gear and second full gear) drives the excavator frame to slowly rotate upwards at a low speed V1, simulating a manual, stable soil-carrying action to ensure the complete removal of the Codonopsis pilosula root system; then, it switches to the first gear pair (first missing gear and first full gear) for increased speed transmission, causing the excavator frame to quickly return to its original position at a high speed V2, efficiently throwing off the soil using impact force and centrifugal force. This design balances root and stem protection with screening efficiency, achieving biomimetic excavation.

[0016] This device is equipped with a locking assembly (locking ring, limiting rod, cylinder) and a linkage and storage assembly (installation rod, connecting rod). After the device is inserted into the soil, the cylinder drives the limiting rod to engage with the locking ring, changing the rotating column and the frame from a rotatable connection to a rigid fixation, eliminating frame sway during operation and ensuring stable digging posture. At the same time, the linkage mechanism retracts the contour rollers off the ground to avoid interference and wear. During transfer, the device unlocks and resets, with only the traveling wheels touching the ground. This design balances operational stability and transportation safety, extending the lifespan of the mechanism. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0018] Figure 2 This is a three-dimensional structural diagram of the mounting bracket, the first hydraulic cylinder, and the actuating bracket of the present invention.

[0019] Figure 3 This is a three-dimensional structural diagram of the components of the present invention, including the second hydraulic cylinder, the excavator frame, and the drive disc.

[0020] Figure 4 This is a three-dimensional structural diagram of the actuating frame, the second hydraulic cylinder, and the excavating frame of the present invention.

[0021] Figure 5 This is a three-dimensional structural diagram of the components such as the rotating rod, push rod, and spring of the present invention.

[0022] Figure 6 This is a three-dimensional structural diagram of the components of the present invention, including the fixing frame, motor, and first missing gear.

[0023] Figure 7 This is a three-dimensional structural diagram of the second missing gear and the first complete gear of the present invention.

[0024] Figure 8 This is a three-dimensional structural diagram of the limiting rod, connecting rod, and locking ring components of the present invention.

[0025] The following are the labels in the diagram: 101, Frame; 102, Mounting bracket; 103, First hydraulic cylinder; 104, Drive disc; 1041, Actuating pin; 105, Actuating frame; 106, Rotating block; 107, Second hydraulic cylinder; 108, Excavator frame; 109, Rotating rod; 110, Push rod; 111, Contact switch; 112, Spring; 113, Traveling wheel assembly; 114, Rotating column; 201, Fixed frame; 202, Motor; 203, First missing gear; 204, Rotating shaft; 205, Second missing gear; 206, First full gear; 207, Second full gear; 301, Mounting rod; 302, Connecting rod; 303, Cylinder; 304, Limiting rod; 305, Locking ring. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0027] Example 1: An adaptive depth-adjustable Codonopsis pilosula harvesting device, such as Figures 1-4 As shown, the device includes a mounting frame 102, which is configured to attach the device to the rear three-point suspension of the tractor for traction and power transmission. Each end of the mounting frame 102 has a vertically mounted first hydraulic cylinder 103, and the lower end of the piston rod of each first hydraulic cylinder 103 is hinged to a rotating column 114. A frame 101 is horizontally mounted between the two rotating columns 114, and both ends of the frame 101 are rotatably connected to the corresponding rotating column 114, allowing the frame 101 to swing around the axis of the rotating column 114.

[0028] The bottom of the frame 101 is provided with a walking wheel assembly 113, which includes a horizontal axle and ground wheels fixedly installed at both ends of the horizontal axle. The whole structure is barbell-shaped and is used to support the weight of the whole machine and move in the field according to the undulation of the ground. The frame 101 is rotatably connected to the horizontal axle of the walking wheel assembly 113, so that the frame 101 can roll with the horizontal axle and adjust the pitch angle relative to the horizontal axle.

[0029] The frame 101 is symmetrically connected to rotating blocks 106, and an inclined actuating frame 105 is slidably connected between the two rotating blocks 106 along the longitudinal direction. The actuating frame 105 is inclined with the front lower and the back higher, which facilitates the automatic sliding of the screened Codonopsis pilosula to the ground under the action of gravity. The bottom plate of the actuating frame 105 is constructed as a grid-type filter plate, which is used to separate soil and Codonopsis pilosula, allowing the crushed soil to leak through the grid gaps while Codonopsis pilosula remains on the grid surface. A digging frame 108 is slidably embedded in the front cavity of the actuating frame 105 along the longitudinal direction. A second hydraulic cylinder 107 is installed in the left and right side walls of the actuating frame 105. The front end of the piston rod of each second hydraulic cylinder 107 is fixedly connected to the digging frame 108, which is used to drive the digging frame 108 to extend and retract relative to the actuating frame 105 to control the depth of insertion into the soil.

[0030] The frame 101 is also equipped with a variable speed tumbling drive assembly for controlling the flipping of the toggle frame 105, and a contour adjustment assembly for controlling the extension length of the piston rod of the first hydraulic cylinder 103.

[0031] Specifically, the variable-speed turning and throwing drive assembly includes drive discs 104 symmetrically rotatably mounted on both sides of the frame 101; each drive disc 104 has an actuating pin 1041 at its eccentric position; the actuating frame 105 has an elongated pin hole on its side wall that mates with the actuating pin 1041, and each actuating pin 1041 is slidably inserted into the pin hole, forming a crank-rocker mechanism that converts the rotational motion of the drive disc 104 into the reciprocating oscillation of the actuating frame 105. When the drive disc 104 rotates, the actuating pin 1041 drives the actuating frame 105 to drive the rotating block 106 to first flip backward and upward relative to the frame 101, simulating the action of manually digging and picking mud backward, and then flipping forward and downward to reset, simulating the action of manually returning to its original position; during this process, the actuating frame 105 adaptively slides relative to the rotating block 106 through the cooperation of the pin hole and the pin shaft to compensate for the deviation of the motion trajectory and ensure smooth operation of the mechanism.

[0032] like Figure 6 and Figure 7 As shown, specifically, the frame 101 is provided with a power transmission assembly for driving the drive disk 104 to rotate. This assembly includes fixed frames 201 symmetrically fixed to the frame 101; each fixed frame 201 is equipped with a motor 202; the output shaft of each motor 202 is coaxially fixed to a rotating shaft 204 via a coupling; a first missing gear 203 and a second missing gear 205 are sequentially sleeved and fixed along the axial direction on each rotating shaft 204; a first full gear 206 and a second full gear 207 are respectively fixed to the coaxial outer end of each drive disk 104; wherein, adjacent second missing gears 205 and second full gears 207 mesh with each other, and adjacent first missing gears 203 and first full gears 206 mesh with each other; through the sequential alternating meshing of the two sets of missing gears and full gears, the dual-speed switching drive of the drive disk 104 is realized.

[0033] Furthermore, the parameters of the gear set are configured as follows: the toothed arc segment of the second missing gear 205 occupies two-thirds of the circumference, and the toothless arc segment occupies one-third; the toothed arc segment of the first missing gear 203 occupies one-eighth of the circumference, and the toothless arc segment occupies seven-eighths; the second full gear 207 has the same module as the second missing gear 205, and the second missing gear 205 and the second full gear 207 form a meshing transmission pair in the toothed arc segment; the pitch circle diameter of the first full gear 206 is designed to be half that of the second full gear 207 (i.e., speed-increasing transmission); the pitch circle diameter of the first missing gear 203 is designed to be twice that of the second missing gear 205.

[0034] Initially, the second missing gear 205 and the second full gear 207 are engaged, while the first missing gear 203 and the first full gear 206 are disengaged. When the motor 202 starts and drives the shaft 204 to rotate, the second set of gears first drives the drive disc 104 to rotate at a low speed V1, causing the actuating frame 105 and the digging frame 108 to slowly rotate upward, completing the slow digging and soil breaking process. When the shaft 204 rotates to the toothless section of the second missing gear 205, the second set of gears disengages, and at the same time, the toothed section of the first missing gear 203 rotates in and meshes with the first full gear 206. Due to the large-drive-small-speed design of the first set of gears, the drive disc 104 instantly switches to high-speed V2 (V2 is greater than V1) rotation, causing the actuating frame 105 and the digging frame 108 to quickly rotate downward and reset. This process simulates the manual labor rhythm of "slow digging and fast dumping", which not only ensures the integrity of the Codonopsis pilosula root system, but also uses centrifugal force to efficiently throw off the soil.

[0035] like Figure 1 and Figure 5 As shown, specifically, the contour adjustment assembly includes rotating rods 109 symmetrically mounted on the underside of the frame 101; push rods 110 are vertically slidably embedded in the inner cavity of each rotating rod 109, and a return spring 112 is connected between the push rod 110 and the rotating rod 109 to provide preload and achieve floating contour buffering; a contact switch 111 is installed at the top of each push rod 110, and the signal output terminal of each contact switch 111 is electrically connected to the control valve group of the adjacent first hydraulic cylinder 103 to sense the ground height in real time and automatically control the hydraulic cylinder to stop lowering, thereby achieving adaptive adjustment of the digging depth; contour rollers are rotatably mounted at the bottom of each push rod 110 to reduce ground friction resistance and improve the response sensitivity to terrain undulations.

[0036] like Figure 8 As shown, specifically, the frame 101 is also provided with a locking assembly for angle locking of the rotating column 114. This assembly includes locking rings 305 coaxially fixed to the outer ends of the rotating column 114, and positioning slots are evenly distributed on the outer circumferential surface of the locking rings 305. Limiting rods 304 are rotatably connected to the left and right side walls of the frame 101 via pins. The front end of the limiting rod 304 is provided with limiting teeth that cooperate with the slots of the locking rings 305. Cylinders 303 are symmetrically installed on the side walls of the frame 101. The piston rod end of each cylinder 303 is rotatably connected to the rear end of the adjacent limiting rod 304, which is used to drive the limiting rod 304 to swing around the fulcrum, thereby realizing the pressing and locking or releasing of the locking rings 305.

[0037] Each limiting rod 304 is also linked to a storage assembly that controls the swinging of the rotating rod 109. The assembly includes mounting rods 301 fixed to the root of the rotating rod 109. The end of the mounting rod 301 is rotatably connected to a connecting rod 302. The upper end of each connecting rod 302 is rotatably connected to the middle of the adjacent limiting rod 304.

[0038] When the cylinder 303 drives the front end of the limiting rod 304 to press down for locking, the rear end of the limiting rod 304 is raised and the mounting rod 301 is pulled through the connecting rod 302, which in turn drives the rotating rod 109 and the push rod 110 to swing backward and upward, so that the contouring roller is lifted off the ground and retracted, realizing mechanism protection and anti-interference in the working mode; conversely, when unlocking, the contouring component automatically resets and touches the ground.

[0039] The working process of this device is divided into four stages: adaptive leveling and soil entry, rigid locking operation, variable speed turning and screening, and reset and transfer. The specific process is as follows: The device is attached to the rear three-point suspension of the tractor through the mounting frame 102. After traveling to the work area, the first hydraulic cylinder 103 is started to drive the rotating column 114 to extend downward, which drives the frame 101 and the bottom components to rotate forward and downward around the horizontal axis of the traveling wheel assembly 113.

[0040] During this process, the contour adjustment component intervenes first: when the contour roller at the bottom of the push rod 110 contacts the ground, it is pushed by the ground reaction force, causing the push rod 110 to slide upward relative to the rotating rod 109 and compress the return spring 112. When the compression reaches a preset threshold (i.e., the excavator frame 108 reaches the optimal soil entry angle), the top of the push rod 110 triggers the contact switch 111, and the signal feedback cuts off the downward circuit of the first hydraulic cylinder 103. This mechanism ensures that the excavator frame 108 can maintain a constant relative attitude to the ground regardless of the terrain, effectively avoiding "over-deep digging damaging the roots" or "under-drilling due to shallow digging."

[0041] Subsequently, the second hydraulic cylinder 107 extends, driving the excavator frame 108 to slide forward and downward along the actuating frame 105, and insert it obliquely into the soil at a predetermined angle to a set depth, thus completing the preparation for excavation.

[0042] To ensure stability during excavation and prevent angular drift of the frame 101 due to soil resistance, a rigid locking operation is performed after the machine has entered the soil: the piston rod of the control cylinder 303 extends upward, driving the rear end of the limiting rod 304 to rise and the front end to press down, causing its limiting teeth to tightly engage with the locking ring 305 groove at the outer end of the rotating column 114. At this time, the rotating column 114 and the frame 101 change from "rotational connection" to "rigid fixation," eliminating the degree of freedom of swing and forming a stable excavation support structure for the entire machine.

[0043] At the same time, the movement of the limiting rod 304 is linked by the linkage mechanism (installation rod 301, connecting rod 302) to pull the rotating rod 109 to swing backward and upward, completely retracting the contour roller and push rod 110 off the ground, avoiding operation interference and wear, and the system enters a pure rigid operation mode.

[0044] When the motor 202 is started, the power is transmitted to the power transmission component via the rotating shaft 204, and the drive disc 104 starts to rotate, driving the actuating frame 105 and the excavating frame 108 to perform a reciprocating motion of "slow digging and fast dumping".

[0045] Low-speed excavation stage V1: Initially, the second missing gear 205 meshes with the second full gear 207. The drive disc 104 rotates at a low speed V1, causing the excavator frame 108 to slowly rotate backward and upward. This process simulates the action of manually picking up soil, smoothly lifting and breaking up the soil layer, ensuring that the Codonopsis pilosula root system is completely removed.

[0046] High-speed reset phase V2: When the shaft 204 rotates to the toothless section of the second missing gear 205, the first missing gear 203 immediately meshes with the first full gear 206. Utilizing the speed-increasing transmission ratio, the drive disc 104 instantly switches to high-speed V2 (V2 is greater than V1) rotation, causing the excavator frame 108 to quickly flip forward and downward to reset.

[0047] Screening effect: During the high-speed reset process, the soil picked up impacts the grid-type filter plate at the bottom of the agitator 105, and the soil is crushed and falls through the grid by the impact force and centrifugal force; Codonopsis pilosula is trapped on the grid surface and automatically slides down to the loosened surface soil layer as the agitator 105 tilts forward, thus achieving efficient soil-codonopsis pilosula separation.

[0048] In this cycle, the actuating frame 105, through the cooperation of the elongated pin hole and the actuating pin 1041, generates adaptive sliding relative to the rotating block 106, compensating for motion trajectory errors and ensuring smooth operation of the mechanism.

[0049] After a single digging cycle is completed, the second hydraulic cylinder 107 retracts, causing the digging frame 108 to return to its original position within the actuating frame 105. The tractor traction device then moves to the next work point and repeats the above "soil entry-locking-turning" process.

[0050] When the site needs to be moved after harvesting: the control cylinder 303 retracts, the front end of the limiting rod 304 lifts to unlock, and the linkage mechanism lowers the contour roller back to the ground. The first hydraulic cylinder 103 retracts, causing the rotating column 114 and frame 101 to flip upwards and retract. At this point, only the traveling wheel assembly 113 is on the ground for support, while components such as the actuating frame 105 are completely off the ground. The device is in transport mode and can be moved at high speed with a tractor, avoiding scratches and damage to components.

[0051] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that variations may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adaptive depth-adjustable Codonopsis pilosula harvesting device, characterized in that, Includes: a mounting bracket (102) configured to attach the device to the rear three-point suspension of the tractor; Two first hydraulic cylinders (103) are vertically arranged at the left and right ends of the mounting frame (102), and the lower end of the piston rod of each first hydraulic cylinder (103) is hinged with a rotating column (114). The frame (101) is horizontally mounted between the two rotating columns (114), and the two walls are rotatably connected to the corresponding rotating columns (114); The walking wheel assembly (113) is located at the bottom of the frame (101) and includes a horizontal shaft and ground wheels fixedly installed at both ends of the horizontal shaft. The frame (101) is rotatably connected to the horizontal shaft. Rotating block (106) is symmetrically rotated and connected to the frame (101); Actuating frame (105) is slidably connected between the two rotating blocks (106) along the longitudinal direction, and is in an inclined state with the front lower and the back higher. The excavator frame (108) is slidably embedded in the front cavity of the actuating frame (105) along the longitudinal direction; The second hydraulic cylinder (107) is installed in the left and right side walls of the actuating frame (105), and its piston rod front end is fixedly connected to the excavating frame (108) to drive the excavating frame (108) to extend and retract in order to control the soil penetration depth. A variable speed tumbling drive assembly is mounted on the frame (101) and is used to drive the agitator (105) to tumble back and forth. The contour adjustment component is mounted on the frame (101) and is used to control the extension length of the piston rod of the first hydraulic cylinder (103) to achieve adaptive adjustment of the digging depth.

2. The adaptive depth-adjustable Codonopsis pilosula harvesting device as described in claim 1, characterized in that, The variable speed tumbling and throwing drive component includes: The drive disk (104) is symmetrically rotated and mounted on both sides of the frame (101); A toggle pin (1041) is set at an off-center position on each drive disc (104); The side wall of the actuating frame (105) is provided with an elongated pin hole that cooperates with the actuating pin (1041). The actuating pin (1041) is slidably inserted into the pin hole, forming a crank rocker mechanism that converts the rotational motion of the drive disc (104) into the reciprocating swing of the actuating frame (105).

3. The adaptive depth-adjustable Codonopsis pilosula harvesting device as described in claim 2, characterized in that, The variable speed tumbling drive assembly further includes a power transmission assembly for driving the drive disk (104) to rotate, the power transmission assembly comprising: The fixing frame (201) is symmetrically fixed to the frame (101) from left to right; The motor (202) is installed in each of the fixed brackets (201); The rotating shaft (204) is coaxially fixed to the output shaft of the motor (202) via a coupling; The first missing gear (203) and the second missing gear (205) are sequentially sleeved and fixed on the rotating shaft (204) along the axial direction; The first full gear (206) and the second full gear (207) are coaxially fixed at the outer end of the drive disk (104); The second missing gear (205) meshes with the second full gear (207), and the first missing gear (203) meshes with the first full gear (206), forming a dual-speed switching transmission structure with alternating meshing.

4. The adaptive depth-adjustable Codonopsis pilosula harvesting device as described in claim 3, characterized in that, The toothed arc segment of each of the second missing gears (205) occupies two-thirds of the circumference, and the toothless arc segment occupies one-third; The toothed arc segment of the first missing gear (203) occupies one-eighth of the circumference, and the toothless arc segment occupies seven-eighths; the second full gear (207) has the same module as the second missing gear (205), and the second missing gear (205) and the second full gear (207) form a meshing transmission pair in the toothed arc segment; The pitch circle diameter of the first full gear (206) is half that of the second full gear (207), thus forming a speed-increasing transmission; The pitch circle diameter of the first missing gear (203) is twice that of the second missing gear (205).

5. The adaptive depth-adjustable Codonopsis pilosula harvesting device as described in claim 1, characterized in that, The contouring adjustment component includes: A rotating rod (109) is symmetrically rotated and installed below the frame (101); The push rod (110) is vertically slidably embedded in the inner cavity of each rotating rod (109); A return spring (112) is connected between the push rod (110) and the rotating rod (109) to provide preload and floating conformal buffer. A contact switch (111) is installed at the top of each push rod (110), and its signal output terminal is electrically connected to the control valve group of the adjacent first hydraulic cylinder (103). The contour rollers are rotatably mounted on the bottom of each push rod (110).

6. The adaptive depth-adjustable Codonopsis pilosula harvesting device as described in claim 1, characterized in that, It also includes a locking assembly for angle locking of the rotating column (114), the locking assembly including: a locking ring (305), which is coaxially fixed to the outer end of the rotating column (114), and positioning slots are evenly distributed on its outer circumferential surface; The limiting rod (304) is rotatably connected to the left and right side walls of the frame (101) by a pin, and its front end is provided with a limiting protrusion that cooperates with the slot of the locking ring (305); A cylinder (303) is symmetrically mounted on the side wall of the frame (101), and the end of its piston rod is rotatably connected to the rear end of the adjacent limiting rod (304) to drive the limiting rod (304) to swing to achieve locking or releasing.

7. The adaptive depth-adjustable Codonopsis pilosula harvesting device as described in claim 6, characterized in that, It also includes a storage assembly for controlling the swing of the lever (109), the storage assembly comprising: Mounting rods (301) are respectively fixed to the root of the rotating rod (109); The connecting rod (302) has its lower end rotatably connected to the end of the mounting rod (301) and its upper end rotatably connected to the middle of the adjacent limiting rod (304).

8. An adaptive depth-adjustable Codonopsis pilosula harvesting device as described in any one of claims 1 to 7, characterized in that, The bottom plate of the actuating frame (105) is a grid-type filter plate, which is used to achieve soil-material separation.

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