A cassava harvester

Abstract

The present application relates to harvester technical field, disclose a kind of cassava harvesters of digging and pulling, comprising: frame, walking component connected to the lower end of frame, for clamping cassava stalk clamping mechanism and with clamping mechanism is connected to the upward pull cassava stalk lifting mechanism, walking component drives frame along ridge travel, first moving mechanism one end is connected to frame, the other end is connected to moving frame, first moving mechanism drives moving frame along the width direction of ridge moves, lifting mechanism is connected to the lower end of moving frame, positioning module is connected to frame, positioning module is used to determine the position of cassava stalk when frame travels, after determining the position of cassava stalk by positioning module, first moving mechanism drives clamping mechanism to move to the back of cassava stalk transversely, so that clamping mechanism can realize automatic transverse deviation according to the growth of cassava stalk in field, ensure the accuracy of stalk clamping, avoid missing or break cassava stalk, so as to ensure the harvesting of cassava tuber.

Description

Technical Field

[0001] This invention relates to the field of harvester technology, and in particular to a digging-type cassava harvester. Background Technology

[0002] Cassava is an important food and energy crop worldwide, widely cultivated in subtropical and tropical countries. However, the level of mechanization in cassava harvesting is low. To date, most farmers primarily use a manual lever harvester, which is inefficient.

[0003] The biomimetic digging-type cassava harvester is a machine that mimics how cassava farmers pull up cassava. It mainly consists of a suspension mechanism, a soil loosening mechanism, a clamping mechanism, a lifting mechanism, a hydraulic system, a control system, and a transmission device. It features strong soil adaptability, high operating efficiency, low power consumption, and low tuber breakage loss. However, the clamping position and pulling stroke of the current biomimetic digging-type cassava harvester are fixed, which makes the clamping mechanism prone to hitting the field ridges, reducing the service life of the clamping frame. At the same time, because its clamping position is fixed, it cannot automatically shift laterally according to the growth of the stalks in the field, resulting in a low success rate of stalk clamping and easy to miss or break cassava stalks, thus causing harvest losses. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the present invention provides a digging-type cassava harvester, wherein the clamping mechanism can automatically shift laterally according to the growth of the stalks in the field.

[0005] This invention provides a cassava harvester with a digging mechanism, comprising:

[0006] The machine includes a frame, a walking assembly connected to the lower end of the frame, a clamping mechanism for holding cassava stalks, and a lifting mechanism connected to the clamping mechanism for pulling the cassava stalks upward. The walking assembly drives the frame to move along the field ridges.

[0007] The first moving mechanism is connected to the frame at one end and to the moving frame at the other end. The first moving mechanism drives the moving frame to move along the width of the field ridge. The lifting mechanism is connected to the lower end of the moving frame.

[0008] The positioning module is connected to the frame. The positioning module is used to determine the position of the cassava stalk when the frame moves. After the position of the cassava stalk is determined by the positioning module, the first moving mechanism drives the clamping mechanism to move laterally to the rear of the cassava stalk.

[0009] Optionally, the first moving mechanism includes:

[0010] The motor is fixed to the frame;

[0011] The lead screw is connected to the motor at one end.

[0012] The track is fixed to the frame along the width of the field ridges. The movable frame slides with the track and is screwed to the lead screw.

[0013] Optionally, the positioning module includes two ultrasonic ranging sensors, which are fixed side by side on the side of the frame facing the ground. The ultrasonic range emitted by the two ultrasonic ranging sensors completely covers the width of a single ridge. The two ultrasonic ranging sensors are used in combination to measure the distance between the top of the cassava stalk and the ultrasonic ranging sensor, and the distance between the top of the cassava stalk and one edge of the frame is obtained from this distance. A ranging sensor is connected to the moving frame, which is used to measure the distance between the moving frame and one edge of the frame. When the distance values ​​obtained by the two are the same, the first drive component stops moving.

[0014] Optional, also includes:

[0015] A second moving mechanism is connected between the moving frame and the lifting mechanism. The second moving mechanism drives the lifting mechanism to move in the opposite direction to the walking direction of the walking component.

[0016] The speed detection unit is connected to the walking assembly. The speed detection unit is used to detect the moving speed of the walking assembly. When the lifting mechanism moves to the rear of the cassava stalk, the second moving mechanism drives the lifting mechanism to move in the opposite direction to the walking direction of the walking assembly at a moving speed.

[0017] Optionally, the second moving mechanism includes:

[0018] A servo motor is connected to a mobile frame. The output shaft of the servo motor is connected to a first rotating shaft. The first rotating shaft is vertically set and a first sprocket is sleeved on the first rotating shaft.

[0019] The second rotating shaft is parallel to the first rotating shaft. The second rotating shaft and the first rotating shaft are arranged sequentially in the moving direction of the frame. One end of the second rotating shaft is rotatably connected to the moving frame, and the other end of the second rotating shaft is fitted with a second sprocket. The first sprocket and the second sprocket are connected by a chain, and the lifting mechanism is connected to the chain.

[0020] Optionally, there are two sets of lifting mechanisms, each set of lifting mechanisms is connected to a clamping mechanism, and the two sets of lifting mechanisms are connected one-to-one to two opposite positions on the chain outside the first sprocket and the second sprocket. The moving frame is provided with a front limit switch, a middle limit switch and a rear limit switch in sequence from front to back along the walking direction of the walking component. When the lifting mechanism touches any one of the front limit switch, the middle limit switch and the rear limit switch, the working state of the lifting mechanism and the servo motor is changed.

[0021] Optionally, a tension sensor is connected between the clamping mechanism and the lifting mechanism. A tentacled limit switch is connected to the clamping mechanism. The clamping mechanism moves to the position directly behind the cassava stalk via the moving frame. As the machine moves forward, the cassava stalk comes into contact with the tentacled limit switch. At the same time, the clamping mechanism clamps the cassava stalk, and the lifting mechanism pulls up the cassava tuber at a preset speed. During this period, if the tension value detected by the tension sensor is greater than the preset value, the lifting mechanism is controlled to decelerate.

[0022] Optionally, a set of parallel guide rails are connected to the mobile frame, with each guide rail located directly below the two parallel segments of the chain, and the lifting mechanism slides in cooperation with the guide rails.

[0023] Optionally, the clamping mechanism includes:

[0024] A clamping frame is connected to a tension sensor. A telescopic component is connected to the clamping frame. The telescopic component extends horizontally. A left pull rod and a right pull rod are movably connected to the telescopic end of the telescopic component. The left pull rod and the right pull rod are symmetrically distributed on both sides of the telescopic component. The end of the left pull rod is rotatably connected to a clamping right arm, and the end of the right pull rod is rotatably connected to a clamping left arm. The middle parts of the clamping left arm and the clamping right arm are simultaneously pivotally connected to the clamping frame. Upper toothed plates and lower toothed plates are fixed to the upper and lower end faces of the clamping left arm and the clamping right arm, respectively.

[0025] The guide rail is connected to the side of the clamping frame away from the telescopic component, and is located directly above the left and right clamping arms.

[0026] An ultrasonic height sensor is installed on the side of the clamping frame near the machine frame. The ultrasonic height sensor is used to detect the height of the clamping frame above the ground. When the distance of the clamping frame above the ground is less than or equal to the set distance, the lifting mechanism rises. When the distance of the clamping frame above the ground is greater than the set distance, the lifting mechanism stops immediately.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention determines the position of cassava stalks on the field ridge through a positioning module, and drives the clamping mechanism to move laterally along the field ridge to the rear of the cassava stalk through a first moving mechanism. Then, the clamping mechanism moves downward through a lifting mechanism to clamp the cassava stalk. Subsequently, the lifting mechanism moves upward to pull up the cassava tuber. This allows the clamping mechanism to automatically shift laterally according to the growth of the cassava stalks in the field, ensuring the accuracy of stalk clamping and avoiding missed or broken cassava stalks, thereby ensuring the harvest of cassava. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the first overall structure of a cassava harvester provided in an embodiment of the present invention;

[0029] Figure 2This is a schematic diagram of the second overall structure of a cassava harvester provided in an embodiment of the present invention;

[0030] Figure 3 for Figure 2 Enlarged schematic diagram of the local structure at point G;

[0031] Figure 4 This is a schematic diagram of the structure of the mobile frame provided in an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the installation of a speed sensor provided in an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the control box provided in an embodiment of the present invention.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1-Walking assembly; 101-Wheel; 102-Wheel rod; 103-Wheel axle; 2-Frame; 3-First moving mechanism; 30-Motor; 31-Lead screw; 32-Rail; 4-Clamping mechanism; 401-Clamping frame; 402-Left pull rod; 403-Right pull rod; 404-T-snap; 405-Clamping piston rod; 406-Clamping cylinder; 407-Clamping right arm; 408-Clamping left arm; 409-Lower gear; 410-Upper gear; 41 1-Guide rail; 5-Tension sensor; 6-Lifting mechanism; 601-Hydraulic piston rod; 602-Irregular flange; 603-Hydraulic lifting cylinder; 604-Anti-rotation U-shaped buckle; 703-Distance sensor; 7-Sensing control system; 701-Middle limit switch; 702-Rear limit switch; 703-Distance sensor; 704-Front limit switch; 705-Ultrasonic distance sensor; 706-Speed ​​detection unit; 707-Follow-up gear; 708-Possible Programmable controller; 709-Control box; 710-Control screen; 711-Ultrasonic height sensor; 712-Touch-type limit switch; 8-Hydraulic system; 9-Moving frame; 901-Padded block; 902-Moving beam; 903-Upper pad; 904-Side hanging rectangular tube; 905-Lower pad; 906-Guide rail; 907-Long support bar; 908-Side hanging plate; 909-Arch-shaped buckle; 910-Side pad; 10-Second moving mechanism; 1001- 1002-Right-angle reducer; 1003-Servo motor; 1004-First support seat; 1005-First sprocket; 1006-Second shaft; 1007-Bearing seat; 1008-Second sprocket; 1009-Chain; 1010-Second support seat; 1101-Nut seat; 11-Hook; 12-Digging and loosening assembly; 1201-Square plate; 1202-U-shaped buckle; 1203-Loosening shovel assembly; 13-First slider. Detailed Implementation

[0036] The following detailed description of a specific embodiment of the present invention is provided in conjunction with the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0037] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solution of this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0038] Cassava is an important food and energy crop worldwide, widely cultivated in subtropical and tropical countries. However, the level of mechanization in cassava harvesting is low. To date, most farmers primarily use a manual lever harvester, which is inefficient.

[0039] The biomimetic digging-type cassava harvester is a machine that mimics how cassava farmers pull up cassava. It mainly consists of a suspension mechanism, a soil loosening mechanism, a clamping mechanism, a lifting mechanism, a hydraulic system, a control system, and a transmission device. It features strong soil adaptability, high operating efficiency, low power consumption, and low tuber breakage loss. However, the clamping position and pulling stroke of the current biomimetic digging-type cassava harvester are fixed, which makes the clamping mechanism prone to hitting the field ridges, reducing the service life of the clamping frame. At the same time, because its clamping position is fixed, it cannot automatically shift laterally according to the growth of the stalks in the field, resulting in a low success rate of stalk clamping and easy to miss or break cassava stalks, thus causing harvest losses.

[0040] To address the aforementioned technical problems, embodiments of the present invention provide a digging-type cassava harvester. The clamping mechanism can automatically shift laterally according to the growth of the stalks in the field. The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Figure 1 This is a schematic diagram of the first overall structure of a cassava harvester according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the second overall structure of a cassava harvester according to an embodiment of the present invention. Figure 3 for Figure 2 A magnified schematic diagram of the local structure at point G. Figure 4 This is a schematic diagram of the structure of the mobile frame provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of the installation of the speed sensor provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of the control box provided in an embodiment of the present invention.

[0041] like Figure 1 As shown in the figure, an embodiment of the present invention provides a digging-type cassava harvester, including: a frame 2, a walking component 1 connected to the lower end of the frame 2, a clamping mechanism 4 for clamping cassava stalks, and a lifting mechanism 6 connected to the clamping mechanism 4 for pulling the cassava stalks upward. The walking component 1 drives the frame 2 to walk along the field ridge. One end of the first moving mechanism 3 is connected to the frame 2, and the other end is connected to the moving frame 9. The first moving mechanism 3 drives the moving frame 9 to move along the width direction of the field ridge. The lifting mechanism 6 is connected to the lower end of the moving frame 9. A positioning module is connected to the frame 2. The positioning module is used to determine the position of the cassava stalks when the frame 2 is walking. After the position of the cassava stalks is determined by the positioning module, the first moving mechanism 3 drives the clamping mechanism 4 to move laterally to the rear of the cassava stalks.

[0042] This invention uses a positioning module to determine the position of cassava stalks on the field ridges. A first moving mechanism drives a clamping mechanism to move laterally along the field ridges to the rear of the cassava stalks. Then, a lifting mechanism drives the clamping mechanism to move downwards, clamping the cassava stalks. Subsequently, the lifting mechanism moves upwards to pull up the cassava tubers. This allows the clamping mechanism to automatically shift laterally according to the growth of the cassava stalks in the field, ensuring the accuracy of stalk clamping and thus guaranteeing precise cassava harvesting.

[0043] refer to Figure 2 The first moving mechanism 3 includes a motor 30, a lead screw 31, and a track 32. The motor 30 is fixed on the frame 2. One end of the lead screw 31 is connected to the motor 30. The track 32 is fixed on the frame 2 along the width of the ridge. The moving frame 9 is slidably engaged with the track 32. The moving frame 9 is screwed to the lead screw 31. A first slider 13 is slidably connected on the track 32. The first slider 13 is connected to the moving frame 9 to achieve its sliding.

[0044] Optionally, the positioning module includes two ultrasonic ranging sensors 705, which are fixed side-by-side on the side of the frame 2 facing the ground. The ultrasonic range emitted by the two ultrasonic ranging sensors 705 completely covers the width of a single ridge. The two ultrasonic ranging sensors 705 are used in combination to measure the distance between the top of the cassava stalk and the ultrasonic ranging sensor 705, and the distance between the top of the cassava stalk and one side edge of the frame 2 is obtained from this distance. A ranging sensor 703 is connected to the moving frame 9, which is used to measure the distance between the moving frame 9 and one side edge of the frame 2. When the distance values ​​obtained by the two sensors are the same, the first drive assembly 30 stops moving. The ultrasonic waves emitted by a single ultrasonic ranging sensor 705 are cone-shaped. The ultrasonic waves emitted by the two ultrasonic ranging sensors 705 can completely cover the width of a single ridge, thus enabling the measurement of the cassava stalk.

[0045] Optionally, a second moving mechanism 10 is also included, which is connected between the moving frame 9 and the lifting mechanism 6. The second moving mechanism 10 drives the lifting mechanism 6 to move in the opposite direction to the walking component 1. The speed detection unit 706 is connected to the walking component 1 and is used to detect the moving speed of the walking component 1. When the lifting mechanism 6 moves to the rear of the cassava stalk, the second moving mechanism 10 drives the lifting mechanism 6 to move in the opposite direction to the walking component 1 at a moving speed. In this embodiment, the speed detection unit 706 is a speed sensor. By acquiring the forward speed of the tractor collected by the speed sensor, the second moving mechanism 10 works at the opposite speed to form speed cancellation or partial cancellation, so that the lifting mechanism 6 can vertically or obliquely pull up the cassava tuber when pulling up the cassava stalk.

[0046] Optionally, the second moving mechanism 10 includes: a servo motor 1003 and a second rotating shaft 1006. The servo motor 1003 is connected to the moving frame 9. The output shaft of the servo motor 1003 is connected to a first rotating shaft 1001. The first rotating shaft 1001 is vertically arranged. A first sprocket 1005 is sleeved on the first rotating shaft 1001. The second rotating shaft 1006 is parallel to the first rotating shaft 1001. The second rotating shaft 1006 and the first rotating shaft 1001 are arranged sequentially in the moving direction of the frame 2. One end of the second rotating shaft 1006 is rotatably connected to the moving frame 9. The other end of the second rotating shaft 1006 is sleeved with a second sprocket 1008. The first sprocket 1005 and the second sprocket 1008 are connected by a chain 1009. The lifting mechanism 6 is connected to the chain 1009.

[0047] Optionally, there are two sets of lifting mechanisms 6, each set connected to a clamping mechanism 4. The two sets of lifting mechanisms 6 are connected one-to-one to two opposite sections of the chain 1009 outside the first sprocket 1005 and the second sprocket 1009. A front limit switch 704, a middle limit switch 701, and a rear limit switch 702 are sequentially and alternately arranged on the moving frame 9 along the traveling direction of the traveling assembly 1 from front to back. When the lifting mechanism 6 touches any one of the front limit switch 704, middle limit switch 701, or rear limit switch 702, the working state of the lifting mechanism 6 and the servo motor 1003 changes. The two clamping mechanisms can perform reciprocating harvesting, further improving the harvesting efficiency of cassava tubers.

[0048] Optionally, a tension sensor 5 is connected between the clamping mechanism 4 and the lifting mechanism 6. A tenon-type limit switch 712 is connected to the clamping mechanism 4. The clamping mechanism 4 moves to the rear of the cassava stalk via the moving frame 9. As the machine moves forward, when the cassava stalk contacts the tenon-type limit switch 712, the clamping mechanism 4 clamps the cassava stalk. At the same time, the lifting mechanism 6 pulls up the cassava tuber at a preset speed. During this period, if the tension value detected by the tension sensor 5 is greater than the preset value, the lifting mechanism 6 is controlled to decelerate. The timing starts from when the cassava stalk touches the tenon-type limit switch. The system continuously transmits signals from the programmable controller to the hydraulic system. The hydraulic system controls the lifting mechanism to pull up the cassava tubers at the optimal speed (preset speed). When the force sensor detects that the pulling force exceeds the set force (900N) during the pulling process, it sends a signal back to reduce the optimal speed. This is because excessive pulling force can cause the cassava tubers to break. The pulling force can be controlled to be less than the set pulling force value by reducing the speed to avoid the cassava tubers breaking. The speed is reduced once every time the set value is exceeded. The speed is reduced only twice. Too many speed reductions will affect the pulling efficiency.

[0049] Optionally, a set of parallel guide rails 906 are connected to the movable frame 9. The guide rails 906 are located directly below the two parallel segments of the chain 1009. The lifting mechanism 6 slides with the guide rails 906. In this embodiment, the upper part of the long support bar 907 is connected to the guide rails 906 by multiple bolts. The parallel distance between the guide rails 906 is the pitch circle diameter of the sprocket.

[0050] refer to Figure 3To better grip the cassava stalks, in this embodiment, the gripping mechanism 4 includes: a gripping frame 401, a guide rail 411, and an ultrasonic height sensor 711. The gripping frame 401 is connected to a tension sensor 5. A telescopic member is connected to the gripping frame 401, and the telescopic member extends horizontally. A left pull rod 402 and a right pull rod 403 are movably connected to the telescopic end of the telescopic member. The left pull rod 402 and the right pull rod 403 are symmetrically distributed on both sides of the telescopic member. The end of the left pull rod 402 is rotatably connected to a right arm 407, and the end of the right pull rod 403 is rotatably connected to a left arm 408. The middle parts of the left arm 408 and the right arm 407 are simultaneously pivotally connected to the gripping frame 401. The upper and lower end faces of the clamping frame 401 are respectively fixed with an upper toothed plate 409 and a lower toothed plate 410. A guide rail 411 is connected to the side of the clamping frame 401 away from the telescopic component. The guide rail 411 is located directly above the clamping left arm 408 and the clamping right arm 407. An ultrasonic height sensor 711 is located on the side of the clamping frame 401 near the machine frame. The ultrasonic height sensor 711 is used to detect the height of the clamping frame 401 from the ground. When the distance of the clamping frame 401 from the ground is less than or equal to a set distance, the lifting mechanism 6 rises until the distance of the clamping frame 401 from the ground is greater than the set distance. The guide rail 411 is connected to the side of the clamping frame 401 away from the telescopic component. The guide rail 411 is located directly above the clamping left arm 408 and the clamping right arm 407. Sensor 711 is located on one side of the clamping frame 401. The ultrasonic height sensor 711 is used to measure the ground clearance of the clamping frame 401. This sensor ensures the ground clearance of the clamping frame 401, enabling ground contouring and protecting the clamping frame 401. When the ground clearance of the clamping frame 401 is less than or equal to a set distance, the lifting mechanism 6 rises until the ground clearance of the clamping frame 401 exceeds the set distance, at which point the lifting mechanism 6 immediately stops. This adjusts the ground clearance of the clamping frame 401 to prevent it from hitting the soil on the ridges and causing damage. Because the machine travels in the field, the ground is uneven, or the soil is loose, causing the clamping device to have inconsistent ground clearance, potentially leading to collisions with the ridges and machine damage. The component includes a clamping piston rod 405 and a clamping cylinder 406. The upper end of the clamping frame 401 is bolted to the tension sensor 5, and the lower end is bolted to the clamping right arm 407 and the clamping left arm 408. The lower rear end is bolted to the flange of the clamping cylinder 406. The guide rail 411 is set in front of the clamping frame 401. The clamping right arm 407 and the clamping left arm 408 are joined by mortise and tenon joints. The upper and lower surfaces of the two are respectively provided with upper toothed plates 409 and lower toothed plates 410. One end of the left pull rod 402 is connected to the clamping right arm 407, and one end of the right pull rod 403 is connected to the clamping left arm 408. The other end of the left pull rod 402 and the other end of the right pull rod 403 are connected through the end of the T-shaped buckle 404. The top end of the T-shaped buckle 404 is connected to the end of the piston rod.

[0051] The cassava harvester provided in this embodiment of the invention specifically includes: a walking component 1, a frame 2, a hydraulic system 8, a moving frame 9, a lead screw 31, a second moving mechanism 10, a lifting mechanism 6, a clamping mechanism 4, a digging and loosening component 12, and a sensor control system 7. Four sets of traveling components 1 are bolted to the bottom of the frame 2. The upper two sides are connected to the moving frame 9 by a set of rails 32. A lead screw 31 is also set in the middle of the upper part. The moving frame 9 is connected to the lead screw 31 by bow-shaped buckles 909 bolts. The hydraulic system 8 is set in the middle of the lower rear crossbeam of the frame 2. A digging and loosening component 12 is set in front of it. The second moving mechanism 10 is set in the middle of the moving frame 9. It is bolted to the middle of the two lower pads 905 by the first support seat 1004 and the second support seat 1010 respectively. The upper end of the lifting mechanism 6 is connected to the guide rail 906 set in the lower middle part of the moving frame 9 by the hook 11. The hook 11 is fixed with a second slider. The second slider slides with the guide rail 906. The lower end is bolted to the clamping mechanism 4 by the tension sensor 5. The sensor control system 7 is distributed on the frame 2 and each component. The frame 2 is connected to the tractor suspension device at three points by the suspension frame.

[0052] In this embodiment, the walking assembly 1 includes a wheel 101, a wheel rod 102, and a wheel axle 103. The wheel axle 103 is a stepped axle, with one end connected to the wheel 101 via a bearing and the other end connected to the wheel rod 102. Both ends of the wheel axle 103 are connected to nuts. In this embodiment, the wheel rod 102 is provided with multiple adjustment holes to facilitate the adjustment of the distance between the machine and the ground by the digging-type cassava harvester. In addition, the stepped wheel axle is easy to disassemble and replace to adapt to cassava tubers planted with different ridge widths.

[0053] In this embodiment, reference Figure 4 The movable frame 9 includes a pad 901, a movable beam 902, an upper pad 903, a side-mounting rectangular tube 904, a lower pad 905, a guide rail 906, a long support bar 907, a side hanging plate 908, an arc-shaped buckle 909, and a side pad 910. The two ends of the movable beam 902 are bolted to one side of the pad 901, and the other side of the pad 901 is bolted to the first slider 13. The side-mounting rectangular tube 904 is connected to the movable beam 902 via the side hanging plate 908. The two ends of the lower pad 905 are respectively connected to the two side hanging rectangular tubes 901. 04 is fixedly connected. A long support bar 907 is provided near the side hanging rectangular tube 904. The end of the long support bar 907 is bolted to the lower pad 905. The upper part of the long support bar 907 is connected to the guide rail 906 by multiple bolts. The parallel distance between the guide rails 906 is the pitch circle diameter of the sprocket. The side pad 910 is fixedly connected to the end away from the hydraulic system 8, on the side of the side hanging tube 904 near the moving beam 902. The upper pad 903 is provided near the end of the hydraulic system 8, above the two moving beams 902, and directly below the servo motor 1003.

[0054] In this embodiment, the movable frame 9 moves laterally by receiving the cassava stalk position information fed back by the programmable controller 708, which can improve the harvester's gripping accuracy of the cassava stalks and reduce the rate of missed harvesting. This overcomes the problems of current bionic digging-type cassava harvester gripping devices being unable to move and breaking cassava stalks.

[0055] Specifically, the second moving mechanism 10 includes a first rotating shaft 1001, a right-angle reducer 1002, a servo motor 1003, a first support base 1004, a first sprocket 1005, a second rotating shaft 1006, a bearing housing 1007, a second sprocket 1008, a chain 1009, and a second support base 1010. The first rotating shaft 1001 is located in the middle of the two side connecting pipes 904 near the hydraulic system 8, with one end connected to the right-angle reducer 1002 and the other end connected to the first support base 1004. The servo motor 1003 is fixed to the upper pad 9. 03. The right-angle reducer 1002 is connected to the end away from the first rotating shaft 1001. The first sprocket 1005 is located in the lower middle part of the first rotating shaft 1001 and is connected to the second sprocket 1008 through the chain 1009. The second rotating shaft 1006 is located in the middle of the two side hanging pipes 904 away from the hydraulic system 8. One end of it is connected to the bearing seat 1007 and the other end is connected to the second support seat 1010. The second sprocket 1008 is located in the lower middle part. The bearing seat 1007 is fixed to the middle of the side pad 910. The chain 1009 is connected to the hanging buckle 11 through a pin.

[0056] By acquiring the tractor's forward speed from the speed sensor, the second moving mechanism 10 operates at the opposite speed, creating speed cancellation or partial cancellation, ensuring that the lifting mechanism 6 can vertically or obliquely pull up the cassava tubers when pulling up the cassava stalks.

[0057] In this embodiment, the lifting mechanism 6 includes a hydraulic piston rod 601, a special-shaped flange 602, a hydraulic lifting cylinder 603, and an anti-rotation U-shaped buckle 604. The special-shaped flange 602 is disposed at one end of the hydraulic lifting cylinder 603, and the hydraulic piston rod 601 extends out to one side. The anti-rotation U-shaped buckle 604 is connected to the special-shaped flange 602 through a hole, and its end is threadedly connected to the clamping frame 401. This can prevent the hydraulic piston rod from rotating, thereby ensuring the working state of the lifting mechanism 6. The special-shaped flange 602 has two small holes corresponding to the upper end disc of the clamping frame 401.

[0058] In this embodiment, the excavation and loosening component 12 includes a square plate 1201, a U-shaped buckle 1202, and a loosening shovel assembly 1203; the loosening shovel assembly 1203 is located in front of the frame 2, and the installation spacing of the loosening shovel assembly is a ridge mark; the U-shaped buckle 1202 cooperates with the square plate 1201 to fix the loosening shovel assembly 1203 and adjust the spacing.

[0059] In this embodiment, reference Figure 5 and Figure 6 The sensing and control system 7 includes a front limit switch 704, a middle limit switch 701, a rear limit switch 702, a distance sensor 703, an ultrasonic distance sensor 705, a speed sensor, a follower gear 707, a programmable controller 708, a control box 709, a control screen 710, an ultrasonic height sensor 711, and a tenon-type limit switch 712. The front limit switch 704, middle limit switch 701, and rear limit switch 702 are equidistantly positioned on one side of a long support bar 907 of the moving frame 9 to sense the working position of the lifting mechanism 6. The distance sensor 703 is located below the nut seat 1101 of the lead screw 31 to monitor the running position of the moving frame 9. The ultrasonic distance sensor 705 is located at the frontmost point on both sides of the frame 2 to determine the position of the cassava stalk. The follower gear 707 is fixed to the center of rotation of a rear wheel of the tractor. A speed sensor is vertically fixed within 7073mm of the follower gear. A control screen 710 is mounted on the door of the control box 709, housing a programmable controller 708 for overall machine control. An ultrasonic height sensor 711 is located on one side of the clamping frame 401 to measure its height above the ground. This sensor acts as an ultrasonic switch; when the clamping frame is within a set distance, it controls the lifting mechanism 6 to rise until it moves beyond the set distance, preventing damage from contact with the soil on the ridge. A tentacle-type limit switch 712 is located in the middle of one side of the guide rail 411. Its tentacle must be perpendicular to the direction in which the cassava stalk enters the guide rail 411. When the cassava stalk touches the tentacle-type limit switch 712, the controller activates the hydraulic clamping frame to hold the stalk, and simultaneously, the lifting mechanism 6 begins to lift. This multi-sensor system provides a more rational control strategy for the hydraulic and mechanical systems, improving the overall machine's efficiency.

[0060] Usage and working principle:

[0061] Start the machine and click "Initialize" on the control screen 710. The sensor control system 7 and hydraulic system 8 start working. The servo motor 1003 rotates forward, and the two lifting mechanisms 6 rotate with the chain 1009. At the same time, a hydraulic piston rod 601 extends. When a second slider connected to the hook 11 touches the front limit switch 704, the second moving mechanism 10 and the piston rod 601 stop extending, and the initialization is completed.

[0062] During operation, the tractor pulls the cassava harvester along the ridges. The soil loosening component 12 begins loosening the soil, and the ultrasonic ranging sensor 705 emits ultrasonic waves to detect the position of the cassava stalks. When a cassava stalk is detected, the data measured by the ultrasonic ranging sensor is transmitted to the lead screw 31 via the programmable controller 708. The moving frame 9 moves to the positioning position and stops under the drive of the lead screw 31. When the cassava stalk enters the guide rail 411 and touches the contact-type limit switch 712, the speed sensor measures the tractor's forward speed data, which is transmitted to the servo motor 1003 via the programmable controller 708. The servo motor 1003 reverses and drives the second moving mechanism 10 to work. At the same time, the lifting mechanism 6 operates under the control of the hydraulic system valve group. The clamping piston rod 405 extends and clamps the cassava stalk, and the lifting hydraulic piston rod 601 pulls up the cassava tuber at the optimal pulling speed. When the second slider connected to the hook 11 touches the middle limit switch 701, the hydraulic piston rod 601 stops pulling up, and the piston rod of the other lifting mechanism 6 extends. When the lifting mechanism 6 holding the cassava stalks reaches the rear limit switch 702, the servo motor 1003 stops working, the clamping piston rod 405 retracts, and the cassava tubers are laid on top of the soil.

[0063] When the cassava stalk is detected again, the other lifting device 6 operates as described above, and the servo motor 10 reverses. The two hydraulic lifting devices work in this reciprocating manner, constituting the working principle of the digging-type cassava harvester.

[0064] This invention provides a digging-type cassava harvester that can complete the digging, loosening, and cassava tuber extraction in a single operation. Loosening the soil before extraction reduces extraction force and ensures complete tuber removal. Simultaneously, a hydraulic cylinder lifting system is used to optimize the tuber extraction speed, significantly reducing tuber loss. This invention also employs a sensor control system to enhance the machine's intelligence. During operation, an ultrasonic ranging sensor provides the cassava stalk position for the moving frame, improving the accuracy of stalk clamping. This invention features a simple, compact, and reasonable structure, is flexible in use, easy to assemble and disassemble, adaptable to various extraction actions and control methods, highly adaptable to different soil types, and easily accepted by cassava producers.

[0065] The above-disclosed embodiments are merely a few specific examples of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A digging-type cassava harvester, comprising a frame (2), a walking assembly (1) connected to the lower end of the frame (2), a clamping mechanism (4) for clamping cassava stalks, and a lifting mechanism (6) connected to the clamping mechanism (4) for pulling the cassava stalks upward, wherein the walking assembly (1) drives the frame (2) to walk along the field ridges, characterized in that, Also includes: The first moving mechanism (3) is connected at one end to the frame (2) and at the other end to the moving frame (9). The first moving mechanism (3) drives the moving frame (9) to move along the width of the field ridge. The lifting mechanism (6) is connected to the lower end of the moving frame (9). A positioning module is connected to the frame (2). The positioning module is used to determine the position of the cassava stalk when the frame (2) moves. After the position of the cassava stalk is determined by the positioning module, the first moving mechanism (3) drives the clamping mechanism (4) to move laterally to the rear of the cassava stalk. It also includes: a second moving mechanism (10) connected between the moving frame (9) and the lifting mechanism (6), the second moving mechanism (10) driving the lifting mechanism (6) to move in the opposite direction to the walking component (1); A speed detection unit (706) is connected to the walking assembly (1). The speed detection unit (706) is used to detect the moving speed of the walking assembly (1). When the lifting mechanism (6) moves to the rear of the cassava stalk, the second moving mechanism (10) drives the lifting mechanism (6) to move in the opposite direction to the walking direction of the walking assembly (1) at the moving speed. The second moving mechanism (10) includes: A servo motor (1003) is connected to the moving frame (9). The output shaft of the servo motor (1003) is connected to a first rotating shaft (1001). The first rotating shaft (1001) is vertically arranged, and a first sprocket (1005) is sleeved on the first rotating shaft (1001). The second rotating shaft (1006) is parallel to the first rotating shaft (1001). The second rotating shaft (1006) and the first rotating shaft (1001) are arranged sequentially in the moving direction of the frame (2). One end of the second rotating shaft (1006) is rotatably connected to the moving frame (9). The other end of the second rotating shaft (1006) is fitted with a second sprocket (1008). The first sprocket (1005) and the second sprocket (1008) are connected by a chain (1009). The lifting mechanism (6) is connected to the chain (1009). The lifting mechanism (6) has two sets, and each set of the lifting mechanism (6) is connected to a clamping mechanism (4). The two sets of lifting mechanisms (6) are connected one-to-one to the two opposite positions of the chain (1009) outside the first sprocket (1005) and the second sprocket (1008). The moving frame (9) is provided with a front limit switch (704), a middle limit switch (701) and a rear limit switch (702) in sequence from front to back along the walking direction of the walking component (1). When the lifting mechanism (6) touches any one of the front limit switch (704), the middle limit switch (701) and the rear limit switch (702), the working state of the lifting mechanism (6) and the servo motor (1003) is changed. A tension sensor (5) is connected between the clamping mechanism (4) and the lifting mechanism (6). A tenon-type limit switch (712) is connected to the clamping mechanism (4). The clamping mechanism (4) moves to the rear of the cassava stalk via the moving frame (9). As the machine moves forward, when the cassava stalk contacts the tenon-type limit switch (712), the clamping mechanism (4) clamps the cassava stalk. At the same time, the lifting mechanism (6) pulls up the cassava tuber at a preset speed. During this period, when the tension value detected by the tension sensor (5) is greater than the preset value, the lifting mechanism (6) is controlled to decelerate. A set of parallel guide rails (906) are connected to the mobile frame (9). The guide rails (906) are located directly below the two parallel segments of the chain (1009). The lifting mechanism (6) slides with the guide rails (906). The clamping mechanism (4) includes: A clamping frame (401) is connected to the tension sensor (5). A telescopic component is connected to the clamping frame (401). The telescopic component extends horizontally. A left pull rod (402) and a right pull rod (403) are movably connected to the telescopic end of the telescopic component. The left pull rod (402) and the right pull rod (403) are symmetrically distributed on both sides of the telescopic component. The end of the left pull rod (402) is rotatably connected to a clamping right arm (407). The end of the right pull rod (403) is rotatably connected to a clamping left arm (408). The middle parts of the clamping left arm (408) and the clamping right arm (407) are simultaneously pivotally connected to the clamping frame (401). The upper and lower end faces of the clamping left arm (408) and the clamping right arm (407) are respectively fixed with an upper toothed plate (409) and a lower toothed plate (410). A guide rail (411) is connected to the side of the clamping frame (401) away from the telescopic member. The guide rail (411) is located directly above the clamping left arm (408) and the clamping right arm (407). An ultrasonic height sensor (711) is disposed on the side of the clamping frame (401) near the frame. The ultrasonic height sensor (711) is used to detect the height of the clamping frame (401) above the ground. When the distance of the clamping frame (401) above the ground is less than or equal to a set distance, the lifting mechanism (6) rises until the distance of the clamping frame (401) above the ground is greater than the set distance, then the lifting mechanism (6) stops immediately.

2. The cassava harvester as described in claim 1, characterized in that, The first moving mechanism (3) includes: The motor (30) is fixed on the frame (2); One end of the lead screw (31) is connected to the motor (30); The track (32) is fixed on the frame (2) along the width of the ridge. The movable frame (9) is slidably engaged with the track (32) and the movable frame (9) is screwed to the lead screw (31).

3. The cassava harvester as described in claim 1 or 2, characterized in that, The positioning module includes two ultrasonic ranging sensors (705). The two ultrasonic ranging sensors (705) are fixed side by side on the side of the frame (2) facing the ground. The ultrasonic range emitted by the two ultrasonic ranging sensors (705) completely covers the width of a single ridge. The two ultrasonic ranging sensors (705) are used together to measure the distance between the top of the cassava stalk and the ultrasonic ranging sensor (705), and the distance between the top of the cassava stalk and one side edge of the frame (2) is obtained through this distance value. A ranging sensor (703) is connected to the moving frame (9). The ranging sensor (703) is used to measure the distance between the moving frame (9) and one side edge of the frame (2). When the distance values ​​obtained by the two are the same, the first moving mechanism (3) stops moving.

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