Alternating shovel type coptis harvestor

Abstract

The application discloses an alternating shovel-digging type coptis harvest machine, which comprises a shovel-digging device, and the shovel-digging device is a four-bar linkage mechanism and specifically comprises a crankshaft, a shovel-digging connecting rod, a shovel-digging rocker and a tooth harrow. A point A is taken as the coordinate origin of the rotation center of the crankshaft, and a Cartesian coordinate system is established. A connecting point D of the shovel-digging rocker and a machine frame is a fixed point. A hinged point of the upper end of the shovel-digging connecting rod is a point B. A hinged point of the lower end of the shovel-digging connecting rod is a point C. The motion trajectory equation of the tooth harrow for shoveling and digging coptis is: wherein l1 is the length between the points A and B, l2 is the length between the points B and C, and l3 is the length between the points C and D. The included angle between the AB connecting line and the positive direction of the X axis is θ1. The included angle between the shovel-digging connecting rod BC and the positive direction of the X axis is θ2. The application solves the technical problem of developing an alternating shovel-digging type coptis harvest machine which can complete the cutting, shoveling, lifting and collecting operations of coptis on a slope in one time and can improve the shoveling efficiency.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an alternating shovel-digging type Coptis chinensis harvester. Background Technology

[0002] Coptis chinensis is a common Chinese medicinal herb with a wide range of uses. The annual market demand reaches approximately 1900 tons, and with the continuous development of the Chinese medicinal herb industry and the sustained growth of the international herbal medicine market, the demand for Coptis chinensis will continue to increase. Coptis chinensis prefers cool, shady, and moist environments, and dislikes direct sunlight and high temperatures and dryness. Therefore, to ensure good growth, it is generally planted on shady mountain slopes. This special planting environment poses significant challenges to the use of machinery. Currently, the harvesting of Coptis chinensis is mainly done manually. The cost and efficiency problems caused by manual labor severely restrict the development of the Coptis chinensis industry, resulting in low productivity, high labor intensity, and high production costs. On the other hand, existing harvesters similar to those used for shoveling Coptis chinensis have low shoveling efficiency because their shovels lack precise trajectory design, and the depth of the shovels cannot be adjusted according to actual conditions. This results in the shovels digging too deep or too shallow, often leading to missed areas or damage to the crop.

[0003] Therefore, those skilled in the art are dedicated to developing an alternating shovel-type Coptis chinensis harvester that can complete the cutting, digging, lifting and collecting of Coptis chinensis on slopes in one go, and can improve the digging efficiency. Summary of the Invention

[0004] In view of the above-mentioned deficiencies of the prior art, the present invention discloses an alternating shovel-type Coptis chinensis harvester. The technical problem to be solved is to provide an alternating shovel-type Coptis chinensis harvester that can complete the cutting, shoveling, lifting and collecting of Coptis chinensis on slopes in one go and can improve the shoveling efficiency.

[0005] To achieve the above objectives, the present invention provides an alternating shovel-type Coptis chinensis harvester, including a chassis, the chassis being connected to a frame via a hydraulic lifting device, the frame being equipped with a cutting device, a shovel-digging device, and a lifting device; the chassis is also equipped with a drive device, and slope walking devices are provided on both sides of the chassis;

[0006] The digging device is a four-bar linkage mechanism, comprising a crankshaft, a digging connecting rod, a digging rocker arm, and a toothed rake. The crankshaft is connected to the toothed rake via the digging connecting rod. A Cartesian coordinate system is established with the rotation center A of the crankshaft as the origin. The connection point D between the digging rocker arm and the frame is a fixed point. The hinge point at the upper end of the digging connecting rod is point B, the hinge point at the lower end of the digging connecting rod is point C, and the point on the toothed rake is point E. The motion trajectory F of the toothed rake digging *Coptis chinensis* mainly consists of two circular arcs. The equation of the motion trajectory F of the toothed rake digging *Coptis chinensis* is:

[0007]

[0008] Where l1 is the length between points A and B, l2 is the length between points B and C, and l3 is the length between points C and D; the angle between the line connecting points A and B and the positive X-axis is θ1, the angle between the digging link BC and the positive X-axis is θ2, and the angle of θ1 is 0°≤θ1≤360°, the angle between the digging rocker DC and the positive X-axis is θ3, and x E Let y be the x-coordinate of point E. E Let x be the ordinate of point E. D Let y be the x-coordinate of point D. D Let be the ordinate of point D.

[0009] Establish the position vector equation based on the closed figure ABCD:

[0010] AB + BC = AD + DC

[0011] Transforming the vector equation into an analytical expression, we get:

[0012]

[0013] Separating the real and imaginary parts, we get:

[0014]

[0015] Eliminating θ3 and simplifying the solution, we get:

[0016]

[0017] In the formula:

[0018] a=2l1l2sinθ1-2y D l2;

[0019] b=2l1l2cosθ1-2x D l2;

[0020] c = l1 2 +l2 2 +x D 2 +y D 2 -l3 2 -2x D l1cosθ1-2y D l1sinθ1.

[0021] Therefore, the trajectory equation of the rake is:

[0022]

[0023] Preferably, the number of toothed rakes is 2 to 5, which can complete the harvesting of multiple rows of Coptis chinensis at one time. Moreover, the toothed rakes intersect with each other in the soil during the digging process without interfering with each other, which greatly reduces energy consumption and improves harvesting efficiency.

[0024] Preferably, the hydraulic lifting device is connected to the digging device via a frame, and the depth of the rake entering the soil can be adjusted via the hydraulic lifting device.

[0025] Preferably, the hydraulic lifting device includes a lifting hydraulic cylinder, one end of which is connected to the chassis, and the other end is connected to a hydraulic lifting linkage. Both ends of the hydraulic lifting linkage are connected to scissor-type lifting frames, and the top of each scissor-type lifting frame is slidably connected to a lifting rod with a groove. The digging device is provided with a support rod for mounting the digging rocker arm, and both ends of the support rod are fixedly connected to the lifting rod. When the extension rod of the lifting hydraulic cylinder pushes or pulls the hydraulic lifting linkage, the scissor-type lifting frame slides up and down, driving the lifting rod to rise and fall, thereby raising and lowering the support rod. Ultimately, the hydraulic lifting device achieves the raising and lowering of the rake, adjusting the rake's depth to accommodate different sizes and depths of Coptis chinensis, avoiding damage to the Coptis chinensis during digging. Simultaneously, the frame is fixed to the lifting rod, so the hydraulic lifting device can also adjust the frame's height according to the working status of the Coptis chinensis harvesting vehicle.

[0026] Preferably, the slope walking device includes two sets of tracked wheel mechanisms, each set being an inverted trapezoid, enabling the Coptis chinensis harvester to operate normally on slopes of 0-40°. Each set of tracked wheel mechanisms includes a drive wheel and a first driven wheel that are higher than the chassis and have the same axle height, and several second driven wheels that are lower than the chassis and have the same axle height. Preferably, three second driven wheels are provided, and the second driven wheels are fixedly connected to each other by connecting plates. Each drive wheel of each set of tracked wheel mechanisms is equipped with a drive device, which is a drive motor. The drive motor is controlled to start and stop by different relays, and the drive motor realizes the forward, reverse, steering, and U-turn of the harvester through a gearbox. At the same time, the drive motor is connected to a reducer reversing device, which can adjust the forward speed of the unit, and the use of electric drive instead of an internal combustion engine eliminates exhaust emissions and pollution, promoting sustainable agricultural development.

[0027] Preferably, the cutting device includes a cutting motor fixed to the frame, a shaped cutting blade mounted on the shaft of the cutting motor, and a protective cover between the shaped cutting blade and the cutting motor; the shaped cutting blade is parallel to the chassis, and a notch is provided on the side wall of the protective cover. By adjusting the fluid movement within the protective cover, the shaped cutting blade provides support to the stem during cutting operations, and the cut stem can be ejected from the notch of the protective cover under the action of the fluid.

[0028] Preferably, the lifting device includes a digging and lifting motor mounted on the frame, the output shaft of which is connected to one end of a drive roller via a first sprocket transmission assembly; the other end of the frame is provided with a gear roller higher than the drive roller, and a lifting belt is driven between the gear roller and the drive roller, the lifting angle β of which is 20-40°, preferably 30°. Simultaneously, lifting grids and lifting grid strips are provided between the lifting belts for placing and transporting Coptis chinensis and preventing it from falling off.

[0029] Preferably, the spacing between the lifting grid plates is 10-30mm, which can be adjusted according to the size of the Coptis chinensis. More preferably, the spacing between the lifting grid plates can be set to 15mm. Simultaneously, a collection device can be suspended at the top of the lifting belt. When the Coptis chinensis passes through the lifting device, the vibration of the first sprocket drive assembly removes the dirt from the Coptis chinensis, causing it to fall through the gaps between the lifting grid plates, and then the cleaned Coptis chinensis is collected uniformly. The evenly distributed lifting grid bars between the lifting grid plates ensure that the Coptis chinensis does not fall through the gaps.

[0030] Preferably, the shaft of the shovel and lifting motor is equipped with a first gear, which meshes with a second gear. The second gear is fixed to the frame by a bracket. Torque is transmitted to a second sprocket drive assembly via the second gear. The second sprocket drive assembly is connected to the crankshaft of the shovel device, providing power for the shovel movement. Of course, the speed of the lifting and shovel devices can be adjusted by changing the transmission ratio between the first and second gears to meet harvesting requirements.

[0031] Preferably, the frame is further equipped with a control system, which is electrically connected to the drive motor, cutting motor, shovel and lifting motor, and hydraulic lifting device. The control system is equipped with a start / stop button and a display screen. The control system can control the harvester via the start / stop button, and the display screen can show the real-time status of the Coptis chinensis harvester and enable remote interaction. The Coptis chinensis harvester of the present invention adopts an electric drive and remote control, which is green, environmentally friendly, and pollution-free, realizing sustainable agricultural development.

[0032] The beneficial effects of this invention are:

[0033] By incorporating a slope-walking device, the Coptis chinensis harvester can operate on sloping terrain. Furthermore, the harvester first uses a cutting device to sever the stems of the Coptis chinensis, then uses a toothed rake on the digging device to excavate the plant and throw it onto a conveying device. Finally, the conveying device transports and collects the excavated plant. This Coptis chinensis harvester can complete the cutting, digging, conveying, and collecting operations of Coptis chinensis planted on slopes in a single operation. Compared to traditional manual harvesting methods, it significantly improves harvesting efficiency and reduces labor intensity and production costs. Simultaneously, by precisely calculating the movement trajectory F of the toothed rake during digging, the height, angle, and speed of the digging device can be adjusted to customize the rake's penetration depth according to actual conditions, avoiding the risk of missed areas or damage to the crop. Furthermore, controlling the rake's movement trajectory F to be shorter and more efficient further improves digging efficiency. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of a specific embodiment of the alternating shovel-type Coptis chinensis harvester of the present invention;

[0035] Figure 2 This is a schematic diagram of the shoveling device of the alternating shoveling type Coptis chinensis harvester of the present invention;

[0036] Figure 3 This is a schematic diagram of the four-bar linkage mechanism and the motion trajectory F of the toothed rake in the digging device of the present invention;

[0037] Figure 4 This is a schematic diagram of a specific embodiment of the movement trajectory F of the toothed rake of the present invention, in mm;

[0038] Figure 5 This is a schematic diagram of the hydraulic lifting device of the alternating shovel-type Coptis chinensis harvester of the present invention;

[0039] Figure 6 This is a schematic diagram of the cutting device of the alternating shovel-type Coptis chinensis harvester of the present invention;

[0040] Figure 7 This is a schematic diagram of the structure of the digging device and the lifting device of the present invention.

[0041] In the above-mentioned attached figures: 1. Chassis; 2. Frame; 3. Hydraulic lifting device; 31. Lifting hydraulic cylinder; 32. Hydraulic lifting linkage; 33. Scissor-type lifting frame; 34. Lifting rod; 4. Slope walking device; 41. First driven wheel; 42. Second driven wheel; 43. Drive wheel; 44. Drive motor; 5. Cutting device; 51. Cutting motor; 52. Irregular cutting blade; 53. Protective cover; 531. Notch; 6. Digging device; 61. Crankshaft; 62. Digging linkage; 63. Digging rocker arm; 64. Toothed rake; 65. Support rod; 66. Second gear; 67. Second sprocket transmission assembly; 7. Lifting device; 71. First sprocket transmission assembly; 72. Drive roller; 73. Gear roller; 74. Lifting belt; 75. Lifting grid plate; 76. Lifting grid bar; 77. Digging and lifting motor; 771. First gear; 8. Collection device; 9. Control system. Detailed Implementation

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only for the convenience of describing the present invention and for 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 manner. Therefore, they should not be construed as limitations on the present invention. Terms such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] like Figure 1 As shown, the present invention provides an alternating shovel-type Coptis chinensis harvester, including a chassis 1, the chassis 1 being connected to a frame 2 via a hydraulic lifting device 3, the frame 2 being provided with a cutting device 5, a shovel-digging device 6 and a lifting device 7; the chassis 1 is also provided with a drive device, and slope walking devices 4 are provided on both sides of the chassis 1.

[0044] Furthermore, the slope walking device 4 includes two sets of track wheel mechanisms, each set being an inverted trapezoid, enabling the Coptis chinensis harvester to operate normally on slopes ranging from 0 to 40 degrees. Each set of track wheel mechanisms includes a drive wheel 43 and a first driven wheel 41 that are higher than the chassis 1 and have the same axle height, and also includes several second driven wheels 42 that are lower than the chassis 1 and have the same axle height. In this embodiment, three second driven wheels 42 are provided, and the second driven wheels 42 are fixedly connected to each other by connecting plates. Each drive wheel 43 of each set of track wheel mechanisms is equipped with a drive device, which is a drive motor 44. Each drive motor 44 is controlled to start and stop by a different relay, and the drive motor 44 realizes the harvester's forward, reverse, steering, and turning-around through a gearbox. At the same time, the drive motor 44 is connected to a reducer reversing device, which can adjust the forward speed of the unit, and the use of electric drive instead of an internal combustion engine eliminates exhaust emissions and pollution, promoting sustainable agricultural development.

[0045] like Figure 2 and Figure 3 As shown, the digging device 6 is a four-bar linkage mechanism, including a crankshaft 61, a digging connecting rod 62, a digging rocker arm 63, and a toothed rake 64. The crankshaft 61 includes a rotating shaft and a connecting handle. A short rod is rotatably connected to the free end of the connecting handle, and both ends of each short rod are connected to the connecting handle. The middle of the short rod is rotatably connected to the digging connecting rod 62, and the bottom end of the digging connecting rod 62 is connected to the toothed rake 64. Simultaneously, the digging device 6 also has a liftable support rod 65, on which the digging rocker arm 63 is rotatably mounted. The digging rocker arm 63 is hinged to the lower part of the digging connecting rod 62. That is, the crankshaft 61 is connected to the toothed rake 64 through the digging connecting rod 62. The number of toothed rakes 64 is 2 to 5, allowing for the harvesting of multiple rows of Coptis chinensis at once. Furthermore, the toothed rakes 64 interweave and enter the soil during the digging process without interfering with each other, greatly reducing energy consumption and improving harvesting efficiency. In this embodiment, the number of toothed rakes 64 is 3. With the rotation center A of crankshaft 61 as the origin, a Cartesian coordinate system is established. Point D, the connection point between the digging rocker arm 63 and the support rod 65 on the frame 2, is a fixed point. Point B is the hinge point at the upper end of the digging connecting rod 62, point C is the hinge point at the lower end of the digging connecting rod 62, and point E is the point on the toothed rake 64. The motion trajectory F of the toothed rake 64 digging Coptis chinensis mainly consists of two circular arcs. The equation of the motion trajectory F of the toothed rake 64 digging Coptis chinensis is:

[0046]

[0047] Where l1 is the length between points A and B, l2 is the length between points B and C, and l3 is the length between points C and D; the angle between the line connecting points A and B and the positive X-axis is θ1, the angle between the digging link BC and the positive X-axis is θ2, and the angle of θ1 is 0°≤θ1≤360°, the angle between the digging rocker DC and the positive X-axis is θ3, and x ELet y be the x-coordinate of point E. E Let x be the ordinate of point E. D Let y be the x-coordinate of point D. D Let be the ordinate of point D.

[0048] Establish the position vector equation based on the closed figure ABCD:

[0049] AB + BC = AD + DC

[0050] Transforming the vector equation into an analytical expression, we get:

[0051]

[0052] Separating the real and imaginary parts, we get:

[0053]

[0054] Eliminating θ3 and simplifying the solution, we get:

[0055]

[0056] In the formula:

[0057] a=2l1l2sinθ1-2y D l2;

[0058] b=2l1l2cosθ1-2x p l2;

[0059] c = l1 2 +l2 2 +x D 2 +y D 2 -l3 2 -2x D l1cosθ1-2y D l1sinθ1.

[0060] Therefore, the trajectory equation of the rake is:

[0061]

[0062] Take l1=57mm, l2=187mm, l3=109mm, x D =11mm, y D = -184mm, CE length is 50mm, the motion trajectory F of rake 64 is as follows Figure 4 As shown.

[0063] In the above embodiments, the slope walking device 4 enables the Coptis chinensis harvester to operate on slopes. Furthermore, the stems of the Coptis chinensis are first cut by the cutting device 5, then the toothed rake 64 of the digging device 6 digs out the Coptis chinensis and throws it onto the lifting device 7. Finally, the lifting device 7 transports and collects the dug-out Coptis chinensis. This Coptis chinensis harvester can complete the cutting, digging, lifting, and collection of Coptis chinensis planted on slopes in one operation. Compared with traditional manual harvesting methods, it greatly improves harvesting efficiency and reduces labor intensity and production costs. Simultaneously, by precisely calculating the movement trajectory of the toothed rake 64 in digging the Coptis chinensis, the depth of the rake 64 can be adjusted according to actual conditions by regulating the height, angle, and speed of the digging device 6, avoiding the risk of missed digging or damaging the crop, and making the movement trajectory of the rake 64 shorter and more effective, thus improving digging efficiency.

[0064] like Figure 5 As shown, the hydraulic lifting device 3 is connected to the digging device 6 via the frame 2. The depth of the rake 64 entering the soil can be adjusted via the hydraulic lifting device 3. Specifically, the hydraulic lifting device 3 includes a lifting hydraulic cylinder 31, one end of which is connected to the chassis 1, and the other end is connected to a hydraulic lifting linkage 32. Both ends of the hydraulic lifting linkage 32 are connected to scissor-type lifting frames 33, and the top of each scissor-type lifting frame 33 is slidably connected to a lifting rod 34 with a groove. The digging device 6 is provided with a support rod 65 for mounting the digging rocker arm 63, and both ends of the support rod 65 are fixedly connected to the lifting rod 34. When the extension rod of the lifting hydraulic cylinder 31 pushes or pulls the hydraulic lifting linkage 32, the scissor-type lifting frame 33 slides and rises or falls, driving the lifting rod 34 to rise or fall, thereby raising or falling the support rod 65. Finally, the hydraulic lifting device 3 realizes the raising or falling of the rake 64, adjusting the depth of the rake 64 to adapt to the digging of Coptis chinensis of different sizes and depths, and avoiding damage to the Coptis chinensis during digging. Meanwhile, the frame 2 is fixed on the lifting rod 34, so the hydraulic lifting device 3 can also adjust the lifting of the frame 2 according to the working status of the Coptis chinensis harvesting vehicle.

[0065] like Figure 6 As shown, the cutting device 5 includes a cutting motor 51 fixed on the frame 2. A shaped cutting blade 52 is mounted on the shaft of the cutting motor 51. A protective cover 53 is provided between the shaped cutting blade 52 and the cutting motor 51. The shaped cutting blade 52 is parallel to the chassis 1, and a notch 531 is provided on the side wall of the protective cover 53. By adjusting the fluid movement inside the protective cover 53, the shaped cutting blade 52 provides support for the stem during the cutting operation, and the cut stem can be thrown out from the notch 531 of the protective cover 53 under the action of the fluid.

[0066] like Figure 7As shown, the lifting device 7 includes a digging and lifting motor 77 mounted on the frame 2. The output shaft of the digging and lifting motor 77 is connected to one end of the drive roller 72 via a first sprocket transmission assembly 71. The other end of the frame 2 is provided with a gear roller 73 higher than the drive roller 72. A lifting belt 74 is driven between the gear roller 73 and the drive roller 72. The lifting angle β of the lifting belt 74 is 20–40°. In this embodiment, the lifting angle β of the lifting frame is 30°. Simultaneously, lifting grid plates 75 and lifting grid strips 76 are laid between the lifting belts 74 for placing and transporting Coptis chinensis and preventing it from falling. Specifically, the spacing between the lifting grid plates 75 is 10–30 mm, which can be adjusted according to the size of the Coptis chinensis. In this embodiment, the spacing between the lifting grid plates 75 can be set to 15 mm. Meanwhile, a collection device 8 can be suspended at the top of the lifting belt 74. When the Coptis chinensis passes through the lifting device 7, the vibration of the first sprocket transmission assembly 71 removes the soil from the Coptis chinensis, allowing it to fall through the gaps between the lifting grid plates 75 for unified collection. The lifting grid bars 76 are evenly distributed between the lifting grid plates 75 to ensure that the Coptis chinensis does not fall through the gaps. Simultaneously, a first gear 771 is mounted on the shaft of the digging and lifting motor 77. The first gear 771 meshes with the second gear 66 of the digging device 6, which is fixed to the frame 2 by a bracket. The second gear 66 transmits torque to the second sprocket transmission assembly 67, which is connected to the crankshaft 61 of the digging device 6, providing power for the digging motion of the digging device 6. Of course, the speed of the lifting device 7 and the digging device 6 can be adjusted by changing the transmission ratio between the first gear 771 and the second gear 66 to meet harvesting requirements.

[0067] In addition, a control system 9 is also installed on the frame 2. The control system 9 is electrically connected to the drive motor 44, the cutting motor 51, the shovel and lifting motor 77, and the hydraulic lifting device 3. The control system 9 is equipped with a start / stop button and a display screen. The control system 9 can control the harvester through the start / stop button, and the display screen can display the real-time status of the Coptis chinensis harvester and enable remote interaction. The Coptis chinensis harvester of this invention adopts an electric drive and remote control, which is green, environmentally friendly, and pollution-free, realizing sustainable agricultural development.

[0068] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An alternating shovel-type Coptis chinensis harvester, characterized in that: Includes a chassis (1), which is connected to a frame (2) via a hydraulic lifting device (3). The frame (2) is equipped with a cutting device (5), a digging device (6), and a lifting device (7). The chassis (1) is also equipped with a drive device, and slope walking devices (4) are provided on both sides of the chassis (1). The digging device (6) is a four-bar linkage mechanism. The digging device (6) includes a crankshaft (61), a digging connecting rod (62), a digging rocker arm (63), and a toothed rake (64). The crankshaft (61) is connected to the toothed rake (64) through the digging connecting rod (62). The crankshaft (61) includes a rotating shaft and a connecting handle. The free end of the connecting handle is rotatably connected to a short rod. Both ends of each short rod are connected to the connecting handle. The middle part of the short rod is rotatably connected to the digging connecting rod (62). The bottom end of the digging connecting rod (62) is connected to the toothed rake (64). The toothed rake (64) intersects with each other and enters the soil during the digging process. With the rotation center A of the crankshaft (61) as the origin, a Cartesian coordinate system is established. The connection point D between the digging rocker arm (63) and the frame (2) is a fixed point. The hinge point at the upper end of the digging connecting rod (62) is point B, the hinge point at the lower end of the digging connecting rod (62) is point C, and the point on the toothed rake (64) is point E. The equation of the motion trajectory F of the toothed rake (64) digging Coptis chinensis is: Among them, X E Let y be the x-coordinate of point E. E Let l1 be the ordinate of point E, l2 be the length between points A and B, l3 be the length between points B and C, and l3 be the length between points C and D. The angle between the line connecting points A and B and the positive direction of the X-axis is θ1, and the angle between the digging rod (62) BC and the positive direction of the X-axis is θ2. The angle of θ1 is 0°≤θ1≤360°. The formula for calculating angle θ2 is: In the formula, a=2l1l2sinθ1-2y D l2; b=2l1l2cosθ1-2x D l2; c=l1 2 +l2 2 +x D 2 +y D 2 -l3 2 -2x D l1cosθ1-2y D l1sinθ1; Where, x D Let y be the x-coordinate of point D. D Let D be the ordinate of point D; The hydraulic lifting device (3) is connected to the digging device (6) via the frame (2). The depth of the toothed rake (64) into the soil can be adjusted by the hydraulic lifting device (3). The hydraulic lifting device (3) includes a lifting hydraulic cylinder (31). One end of the lifting hydraulic cylinder (31) is connected to the chassis (1), and the other end of the lifting hydraulic cylinder (31) is connected to a hydraulic lifting linkage (32). Both ends of the hydraulic lifting linkage (32) are respectively connected to scissor-type lifting frames (33). The top of each scissor-type lifting frame (33) is slidably connected to a lifting rod (34) with a groove. The digging device (6) is provided with a support rod (65) for installing the digging rocker arm (63). Both ends of the support rod (65) are respectively fixedly connected to the lifting rod (34). The cutting device (5) includes a cutting motor (51) fixed on the frame (2), a shaped cutting blade (52) is mounted on the shaft of the cutting motor (51), and a protective cover (53) is provided between the shaped cutting blade (52) and the cutting motor (51); the shaped cutting blade (52) is parallel to the chassis (1), and a notch (531) is provided on the side wall of the protective cover (53).

2. The alternating shovel-type Coptis chinensis harvester as described in claim 1, characterized in that: The number of the toothed rakes (64) is 2 to 5, and the toothed rakes (64) dig into the soil in an interleaved manner.

3. The alternating shovel-type Coptis chinensis harvester as described in claim 1, characterized in that: The slope walking device (4) includes two sets of track wheel mechanisms, each set of track wheel mechanisms being inverted trapezoidal; each set of track wheel mechanisms includes a drive wheel (43) and a first driven wheel (41) that are higher than the chassis (1) and have the same axle height, and also includes several second driven wheels (42) that are lower than the chassis (1) and have the same axle height; the drive wheel (43) of each set of track wheel mechanisms is provided with the drive device, which is a drive motor (44).

4. The alternating shovel-type Coptis chinensis harvester as described in claim 3, characterized in that: The lifting device (7) includes a digging and lifting motor (77) mounted on the frame (2). The output shaft of the digging and lifting motor (77) is connected to one end of the drive roller (72) via a first sprocket transmission assembly (71). The other end of the frame (2) is provided with a gear roller (73) higher than the drive roller (72). A lifting belt (74) is driven between the gear roller (73) and the drive roller (72). Lifting grid plates (75) and lifting grid bars (76) are laid between the lifting belts (74).

5. The alternating shovel-type Coptis chinensis harvester as described in claim 4, characterized in that: The spacing between the lifting grid plates (75) is 10-30 mm, and a collection device (8) can be suspended at the top of the lifting belt (74).

6. The alternating shovel-type Coptis chinensis harvester as described in claim 5, characterized in that: The shovel and hoist motor (77) has a first gear (771) on its shaft. The first gear (771) meshes with a second gear (66) and transmits torque to a second sprocket drive assembly (67) through the second gear (66). The second sprocket drive assembly (67) is connected to the crankshaft (61) of the shovel device (6).

7. The alternating shovel-type Coptis chinensis harvester as described in claim 6, characterized in that: The frame (2) is also equipped with a control system (9), which is electrically connected to the drive motor (44), the cutting motor (51), the shovel digging and lifting motor (77) and the hydraulic lifting device (3); the control system (9) is equipped with a start / stop button and a display screen.

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