Self-propelled tobacco plucker

Abstract

The application belongs to the technical field of tobacco stalk pulling machine, and discloses a self-propelled tobacco stalk pulling machine, which comprises a rack, a caterpillar walking device arranged on both sides of the rack, a stalk pulling device arranged in front of the rack and used for pulling tobacco stalk upward, and a storage battery fixed on the rack; a belt conveying device used for conveying tobacco stalk is arranged right above the rack, a crushing device used for crushing tobacco stalk is arranged behind the discharge port of the belt conveying device, and a stalk pulling device used for pulling the tobacco stalk pulled by the stalk pulling device onto the belt conveying device is arranged on the left side and / or the right side above the feeding port of the belt conveying device; the caterpillar walking device, the stalk pulling device, the belt conveying device and the crushing device are all driven to run by independent driving motors, thereby forming independent modular driving mechanisms. Due to the structure, the self-propelled tobacco stalk pulling machine is applicable to hilly and mountainous areas, improves the automatic degree of stalk pulling, reduces the labor intensity of manual cleaning operation and shortens the maintenance time.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of tobacco stalk pulling machines, and provides a self-propelled tobacco stalk pulling machine suitable for hilly areas, capable of improving the degree of automation of stalk pulling, reducing the labor intensity of manual cleaning operation, and shortening the maintenance time in the later period. BACKGROUND

[0002] In the process of tobacco planting, a large number of bacteria exist in the tobacco stalks left in the field after the tobacco leaves are picked, which can directly infect the tobacco leaves planted the next year, and even cause absolute loss in severe cases. In addition, the roots of the tobacco stalks are developed, and manual removal is time-consuming and labor-intensive. Therefore, in order to ensure the stability of the tobacco area and the tobacco farmers and enable the sustainable development of tobacco production, the remaining tobacco stalks, tobacco bags and roots must be cleaned as much as possible. A variety of tobacco stalk pulling machines have been successfully developed in China, such as the tobacco leaf and straw pulling device disclosed in Chinese patent 2014203273275, which reduces the labor intensity of the tobacco farmers to a certain extent, but the labor intensity of the later bundling and transportation operation is still very high, and the operation efficiency is low. The full-automatic tobacco straw pulling, soil shaking, bundling and carrying device disclosed in Chinese patent 2022213521327 realizes the integrated operation of pulling, soil shaking and bundling, but during use, the relatively short tobacco stalks pulled are prone to falling to the ground in front of the conveying chain and the straw pulling channel, and manual cleaning is still required, so the degree of automation is low. Other tobacco stalk pulling machines on the market have complex power transmission mechanisms, long maintenance time in the later period, and once a component is damaged, the machine needs to be stopped for overall maintenance, which delays the stalk pulling process. The operation intensity of the large-scale planting of tobacco fields is high, and it is difficult to adapt to the planting row distance of each tobacco stalk, and large machinery is not suitable for hilly areas. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a self-propelled tobacco stalk pulling machine suitable for hilly areas, capable of improving the degree of automation of stalk pulling, reducing the labor intensity of manual cleaning operation, and shortening the maintenance time in the later period. To achieve the above purpose, the present application provides the following technical solutions:

[0004] The present application provides a self-propelled tobacco stalk pulling machine, which comprises a frame, a caterpillar walking device arranged on both sides of the frame, a stalk pulling device arranged in front of the frame for pulling the tobacco stalks upward, and a storage battery fixed on the frame.

[0005] A belt conveying device for conveying the tobacco stalks is arranged directly above the frame, a crushing device for crushing the tobacco stalks is arranged behind the discharge port of the belt conveying device, and a reed pulling device for pulling the tobacco stalks pulled by the stalk pulling device onto the belt conveying device is arranged on the left side and / or right side above the inlet of the belt conveying device.

[0006] The caterpillar walking device, the pull rod device, the belt conveying device, the crushing device and the weeding device are driven to operate by respective independent driving motors to form independent modular driving mechanisms, the respective independent driving motors are electrically connected with a controller with a PLC control sheet through wires, the controller with the PLC control sheet is electrically connected with a storage battery through wires, and the controller with the PLC control sheet is fixed on a rack.

[0007] The pull rod device further comprises a support frame, the bottom of the support frame is connected with a push rod of an electric push rod through a pin shaft a, the driving motor of the electric push rod is fixed on the rack, both sides of the support frame are fixed with connecting pieces, the top ends of the connecting pieces are fixed on the rack through pin shafts b, the axial lines of the pin shafts b are parallel to the axial line of the pin shaft a, and the support frame swings up and down at the axial line of the pin shaft b under external force; two sets of pull rod executing mechanisms which are symmetrical and have the same structure are arranged on the support frame, the pull rod executing mechanism further comprises a roller shaft support cylinder fixed on the support frame, a roller shaft connected with the inner wall of the roller shaft support cylinder through a bearing, spiral blades fixed with the roller shaft and integrated with the roller shaft at the middle and lower part of the roller shaft, and the top end of the roller shaft is connected with the power output end of the pull rod driving motor through a belt pulley transmission mechanism or a chain wheel transmission mechanism a after penetrating out of the roller shaft support cylinder.

[0008] The weeding device further comprises a weeding driving motor, and at least one set of weeding executing mechanism driven by the weeding driving motor, the weeding executing mechanism further comprises a weeding support cylinder, a weeding rotating shaft connected with the inner wall of the weeding support cylinder through a bearing, and at least one arc-shaped pull rod which is uniformly arranged on the top outer edge of the weeding rotating shaft and integrated with the weeding rotating shaft.

[0009] In order to ensure that the caterpillar walking device of the self-propelled tobacco pull rod machine has a compact structure, in the above scheme, further, the caterpillar walking device further comprises a walking device driving motor, a caterpillar driving shaft connected with the power output end of the driving motor, driving gears fixed on both shaft ends of the caterpillar driving shaft, at least two positioning guide wheels fixed on the caterpillar positioning rack, the at least two positioning guide wheels are located on both sides of the driving gears directly below, the at least two positioning guide wheels and the driving gears form a triangular support structure with the driving gears as the vertex, and the caterpillar is installed on the triangular support structure, and each caterpillar plate of the caterpillar is provided with a driving hole for inserting the driving tooth on the driving gear.

[0010] In order to ensure that the belt conveying device of the whole self-propelled tobacco stalk pulling machine is convenient to assemble and disassemble, in the above scheme, further, the belt conveying device further comprises four roller seats fixed on the frame, two roller seats close to the tobacco stalk pulling device are provided with transmission rollers, and the other two roller seats are provided with driving rollers, one end of the driving roller is connected with the belt driving motor through a belt pulley transmission mechanism or a chain wheel transmission mechanism, the transmission rollers and the driving rollers are provided with conveying belts, and the belt driving motor is fixed on the frame.

[0011] In order to ensure that the crushing device of the whole self-propelled tobacco stalk pulling machine is convenient to assemble and disassemble and the crushing material is received, in the above scheme, further, the crushing device further comprises a shell fixed on the frame and a crushing device driving motor, a crushing driving shaft of the crushing device driving motor extends into the inner cavity of the shell, a blade located in the inner cavity of the shell is fixed on the crushing driving shaft, a crushing feeding port and a crushing discharging port are arranged on the shell, the crushing feeding port is opposite to the discharging port of the belt conveying device, the crushing discharging port is located directly below the shell, and a receiving vessel is arranged directly below the crushing discharging port and is arranged on the frame.

[0012] In order to ensure the insertion depth of the roller shaft, in the above scheme, further, the support frame is fixed with a depth limiting mechanism integrated therewith, the depth limiting mechanism further comprises a depth limiting roller support arm fixed as a whole with the support frame, the lower end of the depth limiting roller support arm is fixed with a depth limiting roller support shaft integrated therewith, the outer end of the depth limiting roller support shaft is connected with a depth limiting roller through a bearing, and the axis of the depth limiting roller support shaft is parallel to the axis of the track driving shaft of the track-type walking device.

[0013] The beneficial effects of the present application are:

[0014] 1. The track-type walking device can effectively make the whole self-propelled tobacco stalk pulling machine suitable for hilly areas.

[0015] 2. The two sets of tobacco stalk pulling execution mechanisms of the tobacco stalk pulling device rotate synchronously and oppositely to give the tobacco stalk an upward force to pull out the tobacco stalk, and the soil is loosened around in the process of pulling out the tobacco stalk and will not be hit back into the ground again, effectively guaranteeing the tobacco stalk pulling efficiency and quality.

[0016] 3. The electric push rod of the tobacco stalk pulling device is started, the soil entering angle of the roller shaft of the tobacco stalk pulling device is adjusted through telescopic adjustment, the terrain simulating depth limiting roller meets the force balance in the ground walking process in this working process, the ground terrain simulating depth limiting function is realized, the soil entering depth of the roller shaft is limited, and the next tobacco stalk pulling process can be normally and circularly entered; the setting of the electric push rod can adjust the soil entering angle of the roller shaft of the tobacco stalk pulling device through telescopic adjustment, so that the structure can adapt to various planting ridge distances of tobacco stalks.

[0017] 4. The setting of the weeding device can effectively move the tobacco rod pulled up by the pulling rod device to the belt conveying device, reducing the labor intensity of manual cleaning work.

[0018] 5. The crawler-type walking device, the pulling rod device, the belt conveying device, the crushing device and the weeding device work continuously without stopping work, the pulling rod and the crushing are carried out at the same time, the next process has started work before the previous process is completed, there is no interruption, and real-time manual operation is not required during the travel process, improving the work efficiency.

[0019] 6. The crawler-type walking device, the pulling rod device, the belt conveying device, the crushing device and the weeding device are modularly arranged, the whole working process is relatively simple, and the automation degree of the whole machine is greatly improved; if a certain module is damaged, it can be quickly found and maintained, and the maintenance time is short. Other advantages, objects and features of the present application will be described in the subsequent specification to some extent, and will be apparent to those skilled in the art based on the study of the following text or can be taught from the practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the following specification. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to make the objects, technical solutions and advantages of the present application clearer, the preferred detailed description of the present application will be combined with the drawings as follows, wherein:

[0021] Figure 1 is a perspective view of the structure of the present application;

[0022] Figure 2 is a perspective view of another direction of the structure of the present application;

[0023] Figure 3 is a perspective view of another direction of the structure of the present application;

[0024] Figure 4 is a perspective view of the structure of the present application;

[0025] Figure 5 is a perspective view of the crushing device of the present application;

[0026] Figure 6This is a three-dimensional structural diagram of the crushing device of the present invention from another perspective. Reference numerals: 1. Frame; 2. Tracked walking device; 201. Walking device drive motor; 202. Drive gear; 203. Track positioning frame; 204. Positioning guide wheel; 205. Track; 206. Drive hole; 207. Track drive shaft mounting housing; 208. Gearbox; 209. Belt puller transmission mechanism or sprocket transmission mechanism b; 3. Pulling rod device; 301. Support frame; 302. Electric push rod; 303. Connecting part; 304. Roller support cylinder; 305. Roller; 306. Blade; 307. Belt puller transmission mechanism or sprocket transmission mechanism a; 308. Pulling rod drive motor; 4. Belt conveyor device; 401. Roller seat; 402. Transmission roller; 403. Drive... 404. Moving roller; 405. Belt drive mechanism or sprocket drive mechanism d; 406. Belt drive motor; 407. Conveyor belt; 408. Baffle frame; 5. Crushing device; 501. Housing; 502. Crushing device drive motor; 503. Crushing drive shaft; 504. Blade; 505. Crushing feed inlet; 506. Crushing discharge outlet; 507. Blade changing window; 6. Battery; 7. Harvesting device; 701. Harvesting drive motor; 702. Harvesting support cylinder; 703. Harvesting rotating shaft; 704. Arc-shaped pulling rod; 705. Belt drive mechanism or sprocket drive mechanism c; 8. Depth limiting mechanism; 801. Depth limiting roller support arm; 802. Depth limiting roller support shaft; 803. Depth limiting roller. Detailed Implementation

[0027] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0028] like Figures 1-6 As shown, the present invention discloses a self-propelled tobacco stick puller, comprising a frame 1, tracked walking devices 2 disposed on both sides of the frame 1, a pulling device 3 disposed at the front of the frame 1 for pulling the tobacco stick upwards, and a battery 6 fixed on the frame 1; characterized in that:

[0029] A belt conveyor 4 for conveying tobacco rods is provided directly above the frame 1. A crushing device 5 for crushing tobacco rods is provided behind the discharge port of the belt conveyor 4. A pulling device 7 for pulling tobacco rods pulled up by the pulling device 3 onto the belt conveyor 4 is provided on the left and / or right sides above the feed port of the belt conveyor 4.

[0030] The caterpillar walking device 2, the pull rod device 3, the belt conveying device 4, the crushing device 5 and the weeding device 7 are driven to operate by respective independent driving motors, forming a modular driving mechanism independent of each other, the respective independent driving motors are electrically connected with a controller with a PLC control sheet through wires, the controller with the PLC control sheet is electrically connected with the storage battery 6 through wires, and the controller with the PLC control sheet is fixed on the rack 1.

[0031] The pull rod device 3 further comprises a support frame 301, the bottom of the support frame 301 is connected with the push rod of an electric push rod 302 through a pin shaft a, the driving motor of the electric push rod 302 is fixed on the rack 1, both sides of the support frame 301 are fixed with connecting pieces 303, the top end of the connecting pieces 303 is fixed on the rack 1 through a pin shaft b, the axis of the pin shaft b is parallel to the axis of the pin shaft a, and the support frame 301 swings up and down at the axis of the pin shaft b under the action of external force; two sets of pull rod execution mechanisms with the same structure are symmetrically arranged on the support frame 301, the pull rod execution mechanism further comprises a roller shaft support cylinder 304 fixed on the support frame 301, a roller shaft 305 connected with the inner wall of the roller shaft support cylinder 304 through a bearing, a spiral blade 306 fixed with the roller shaft 305 in the middle and lower part of the roller shaft 305, and the top end of the roller shaft 305 is connected with the power output end of a pull rod driving motor 308 through a belt wheel transmission mechanism or a chain wheel transmission mechanism a 307 after penetrating out of the roller shaft support cylinder 304;

[0032] The weeding device 7 further comprises a weeding driving motor 701, at least one set of weeding execution mechanism driven by the weeding driving motor 701, the weeding execution mechanism further comprises a weeding support cylinder 702, a weeding rotating shaft 703 connected with the inner wall of the weeding support cylinder 702 through a bearing, and at least one arc-shaped weeding rod 704 integrally arranged on the top outer edge of the weeding rotating shaft 703. In this embodiment, through the synchronous design of the track walking device 2, the weeding rod device 3, the belt conveying device 4, the crushing device 5 and the weeding device 7, the weeding rod device 3 uses two sets of weeding rod execution mechanisms with the same structure to rotate outward to pull out the tobacco rods from the ground, at the same time, the weeding device 7 sends the tobacco rods to the belt conveying device 4, the belt conveying device 4 cuts the tobacco rods into small pieces through the crushing device 5 and then falls into the receiving container, and finally, the tobacco rods are packed and output to the professional processing area for incineration or disinfection treatment. The setting of the track walking device 2 makes the structure suitable for hilly areas; the synchronous design of the track walking device 2, the weeding rod device 3, the belt conveying device 4, the crushing device 5 and the weeding device 7 improves the degree of automation of the weeding rod; the setting of the weeding device 7 reduces the labor intensity of manual cleaning operation; the modularization setting of the track walking device 2, the weeding rod device 3, the belt conveying device 4, the crushing device 5 and the weeding device 7 shortens the later maintenance time; the setting of the crushing device 5 also reduces the labor intensity of workers carrying tobacco rods and the labor intensity of cleaning operation when the structure is used in hilly areas. In this embodiment, when the weeding rod device 3 pulls out the tobacco rods, most of the tobacco rods enter the belt conveying device 4 in an upright state, and a small number of tobacco rods may fall to the two sides. At this time, the arc-shaped weeding rod 704 of the weeding device 7 rotates at a certain speed to timely right the inclined tobacco rods, so that the tobacco rods are in a horizontal and orderly conveying state when entering the second half of the belt conveying device 4, and the tobacco rods can enter the crushing device in an orderly manner under the pushing force of the rear tobacco rods on the front tobacco rods. In specific implementation, a handrail is additionally installed at the tail of the rack 1 to facilitate the operator to control the direction. The controller with the PLC control sheet is provided with a control button.

[0033] In order to avoid that the roller shaft of the crushing device 5 is inserted too deep into the field, in the above embodiment, preferably: the support frame 301 is fixed with a depth limiting mechanism 8 which is integrated with the support frame 301, the depth limiting mechanism 8 further comprises a depth limiting roller support arm 801 fixed with the support frame 301, a depth limiting roller support shaft 802 fixed with the depth limiting roller support arm 801 at the lower end, and a depth limiting roller 803 connected with the outer end of the depth limiting roller support shaft 802 through a bearing, and the axis of the depth limiting roller support shaft 802 is parallel to the axis of the track driving shaft of the track walking device 2.

[0034] In order to ensure the compact structure of the track type traveling device 2 of the whole self-propelled tobacco stalk plucking machine, and to make it applicable to the tobacco fields in hilly areas, in the above embodiment, preferably: the track type traveling device 2 further comprises a traveling device driving motor 201, a track driving shaft connected with the power output end of the driving motor 201, driving gears 202 fixed at both ends of the track driving shaft, at least two positioning guide wheels 204 fixed on the track positioning frame 203, which are located on both sides of the driving gears 202 directly below, the at least two positioning guide wheels 204 and the driving gears 202 form a triangular support structure with the driving gears 202 as the vertex, and the track 205 is installed on the triangular support structure, and each track plate of the track 205 is provided with a driving hole 206 for the driving teeth on the driving gears 202 to insert.

[0035] In order to ensure the transmission and service life of the track driving shaft, in the above embodiment, preferably: the track driving shaft is located in the track driving shaft mounting shell 207, both ends of the track driving shaft are located outside the track driving shaft mounting shell 207, the middle part of the track driving shaft is meshed with the gear of the power output end of the gearbox 208 through a gear, and the power input end of the gearbox 208 is connected with the power output end of the driving motor 201 through a belt pulley transmission mechanism or a chain wheel transmission mechanism b 209.

[0036] In order to ensure the accuracy of plucking tobacco stalks and make the tobacco stalks effectively fall on the belt conveying device 4, in the above embodiment, preferably: when the plucking execution mechanism is at least two sets, the plucking shaft 703 of the at least two sets of plucking execution mechanisms is connected through a belt pulley transmission mechanism or a chain wheel transmission mechanism c 705.

[0037] In order to further ensure the accuracy of plucking tobacco stalks, in the above embodiment, preferably: the arc-shaped plucking rods 704 of the plucking shaft 703 are three, the three arc-shaped plucking rods 704 are evenly distributed on the outer edge of the plucking shaft 703, and the adjacent two arc-shaped plucking rods 704 are integrally formed in the shape of V-shaped plucking containing flow channel.

[0038] In order to simplify the structure of the belt conveying device 4, in the above embodiment, preferably: the belt conveying device 4 further comprises four roller seats 401 fixed on the machine frame 1, two roller seats 401 near the plucking device 3 are provided with transmission rollers 402, and the other two roller seats 401 are provided with driving rollers 403, one end of the driving roller 403 is connected with a belt driving motor 405 through a belt pulley transmission mechanism or a chain wheel transmission mechanism d 404, the transmission roller 402 and the driving roller 403 are provided with a conveying belt 406, and the belt driving motor 405 is fixed on the machine frame 1.

[0039] To prevent the tobacco rods from running off the conveying belt 406 and scattering outside the belt conveyor 4, in the above embodiment, preferably, baffles or baffle frames 407 are arranged on both sides of the material flow direction of the conveying belt 406. To facilitate feeding, the feeding ends of the two baffles or baffle frames 407 are bent outward, so that the two baffles or baffle frames 407 form a spade shape from the top view.

[0040] To make the crushing device 5 simple in structure, in the above embodiment, preferably, the crushing device 5 further comprises a housing 501 fixed on the rack 1 and a crushing device driving motor 502, a crushing driving shaft 503 of the crushing device driving motor 502 extends into the inner cavity of the housing 501, a blade 504 in the inner cavity of the housing 501 is fixed on the crushing driving shaft 503, a crushing feeding port 505 and a crushing discharge port 506 are arranged on the housing 501, the crushing feeding port 505 is directly opposite to the discharge port of the belt conveyor 4, and the crushing discharge port 506 is directly below the housing 501, a receiving vessel is arranged directly below the crushing discharge port 506, and the receiving vessel is arranged on the rack 1.

[0041] To facilitate blade replacement, in the above embodiment, preferably, a blade replacement window 507 is arranged on the top of the housing 501.

[0042] The working process of the tobacco stem pulling device is as follows: after the starting key on the controller with the PLC control sheet is pressed manually, the tobacco stem pulling device starts to work, the driving motor 201 of the walking device provides driving force to make the whole tracked walking device 2 start to move, when reaching the working area, the driving motor of the electric push rod 302 drives the electric push rod 302 to extend and retract the height of the roller shaft 305 to start working, the two motors of the double-sided transmission motor 15 have the same rotating speed, and synchronous rotation can ensure that the roller shaft 305 rotates outward synchronously, the blade 306 at the front end of the roller shaft 305 rotates outward to pull out the tobacco stem from the soil, the reason for selecting the outward rotation is that the blade 306 will give the tobacco stem an upward force when rotating outward, the soil will be loosened around during the pulling-out process of the tobacco stem and will not be hit back into the soil, so that the tobacco stem can be smoothly sent to the conveying belt 406 of the belt conveying device 4 under the pushing action of the harrowing device 7, and in this process, the depth limiting mechanism 8 controls the roller shaft 305 of the pulling device 3 from sinking too deep into the soil. The terrain-imitating depth limiting roller 803 meets the force balance during ground walking and realizes the terrain-imitating depth limiting function. At the same time, the harrowing driving motor 701 in the harrowing device 7 controls the rotation of the harrowing rotating shaft 703, the harrowing rotating shaft 703 drives the arc-shaped pulling rod to operate to transport the pulled-out tobacco stem to the conveying belt 406, the friction force of the conveying belt 406 is large enough to ensure that the conveyed tobacco stem will not slide on the belt, the tobacco stem is conveyed to the crushing feed port 505 of the crushing device 5 through the conveying belt 406 and then enters the inner cavity of the shell 501, the crushing device driving motor 502 of the crushing device 5 operates to drive the blade 504 to cut the tobacco stem into small pieces and then drop into the receiving container through the crushing discharge port 506, and the tobacco stem is returned to the field after disinfection or incineration. The whole process improves the automatic degree of the pulling device, reduces the labor intensity of manual cleaning work, and shortens the maintenance time. Finally, it is pointed out that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the present application, and all of them should be covered in the scope of the claims of the present application.

Claims

1. A self-propelled tobacco stick puller, comprising a frame (1), tracked walking devices (2) disposed on both sides of the frame (1), a stick-pulling device (3) disposed in front of the frame (1) for pulling the tobacco stick upwards, and a battery (6) fixed on the frame (1); characterized in that: A belt conveyor (4) for conveying tobacco rods is provided directly above the frame (1). A crushing device (5) for crushing tobacco rods is provided behind the discharge port of the belt conveyor (4). A pulling device (7) for pulling tobacco rods pulled up by the pulling device (3) and pulled onto the belt conveyor (4) is provided on the left and / or right sides above the feed port of the belt conveyor (4). The tracked walking device (2), the rod pulling device (3), the belt conveyor device (4), the crushing device (5) and the pulling device (7) are all driven by their own independent drive motors, forming mutually independent modular drive mechanisms. The independent drive motors are electrically connected to a controller with a PLC control chip through wires. The controller with a PLC control chip is electrically connected to a battery (6) through wires. The controller with a PLC control chip is fixed on the frame (1). The lever pulling device (3) further includes a support frame (301). The bottom of the support frame (301) is connected to the push rod of the electric push rod (302) via a pin a. The drive motor of the electric push rod (302) is fixed on the frame (1). Connecting parts (303) are fixed on both sides of the support frame (301). The top of the connecting parts (303) is fixed to the frame (1) via a pin b. The axis of the pin b is parallel to the axis of the pin a. Under the action of external force, the support frame (301) swings up and down at the axis of the pin b. Two identical lever actuators are symmetrically arranged on the support frame (301). Each lever actuator includes a roller support cylinder (304) fixed on the support frame (301), a roller (305) connected to the inner wall of the roller support cylinder (304) via a bearing, and a spiral blade (306) integrally fixed to the lower middle part of the roller (305). The top end of the roller (305) passes through the roller support cylinder (304) and is connected to the power output end of the lever drive motor (308) via a belt pulley drive mechanism or a sprocket drive mechanism a (307). The pulling device (7) further includes a pulling drive motor (701), and at least one pulling execution mechanism driven by the pulling drive motor (701). The pulling execution mechanism further includes a pulling support cylinder (702), and a pulling shaft (703) connected to the inner wall of the pulling support cylinder (702) through a bearing. At least one arc-shaped pulling rod (704) integrally formed therewith is evenly distributed on the top outer edge of the pulling shaft (703).

2. The self-propelled tobacco stick puller according to claim 1, characterized in that: The support frame (301) is fixed with an integral depth limiting mechanism (8), which includes a depth limiting roller support arm (801) fixed with the support frame (301). The lower end of the depth limiting roller support arm (801) is fixed with an integral depth limiting roller support shaft (802). The outer end of the depth limiting roller support shaft (802) is connected to a depth limiting roller (803) through a bearing. The axis of the depth limiting roller support shaft (802) is parallel to the axis of the track drive shaft of the tracked walking device (2).

3. The self-propelled tobacco stick puller according to claim 1 or 2, characterized in that: The tracked walking device (2) further includes a walking device drive motor (201), a track drive shaft connected to the power output end of the drive motor (201), a drive gear (202) fixed to the two shaft ends of the track drive shaft, and at least two positioning guide wheels (204) fixed on the track positioning frame (203). The at least two positioning guide wheels (204) are located on both sides directly below the drive gear (202). The at least two positioning guide wheels (204) and the drive gear (202) are integrally formed into a triangular support structure with the drive gear (202) as the vertex. A track (205) is installed on the triangular support structure. Each track plate of the track (205) is provided with a drive hole (206) for the drive teeth on the drive gear (202) to be inserted.

4. The self-propelled tobacco stick puller according to claim 3, characterized in that: The track drive shaft is located inside the track drive shaft mounting housing (207), and both ends of the track drive shaft are located outside the track drive shaft mounting housing (207). The middle part of the track drive shaft meshes with the gear at the power output end of the gearbox (208) through a gear. The power input end of the gearbox (208) is connected to the power output end of the drive motor (201) through a belt pulley transmission mechanism or a sprocket transmission mechanism b (209).

5. The self-propelled tobacco stick puller according to claim 1, characterized in that: When there are at least two sets of the pulling mechanism, the pulling shafts (703) of the at least two sets of pulling mechanisms are connected by a belt pulley transmission mechanism or a sprocket transmission mechanism c (705).

6. The self-propelled tobacco stick puller according to claim 1 or 5, characterized in that: The plucking shaft (703) has three arc-shaped plucking rods (704), which are evenly distributed on the outer edge of the plucking shaft (703). Two adjacent arc-shaped plucking rods (704) form a V-shaped plucking receiving channel.

7. The self-propelled tobacco stick puller according to claim 1, characterized in that: The belt conveyor (4) includes four roller seats (401) fixed on the frame (1). Two roller seats (401) near the pull rod device (3) are equipped with transmission rollers (402), and the other two roller seats (401) are equipped with drive rollers (403). One end of the drive roller (403) is connected to the belt drive motor (405) through a belt pulley transmission mechanism or a sprocket transmission mechanism d (404). The transmission rollers (402) and drive rollers (403) are equipped with conveyor belts (406), and the belt drive motor (405) is fixed on the frame (1).

8. The self-propelled tobacco stick puller according to claim 7, characterized in that: Baffles or baffle frames (407) are provided on both sides of the material flow direction of the conveyor belt (406).

9. The self-propelled tobacco stick puller according to claim 1, characterized in that: The crushing device (5) further includes a housing (501) fixed on the frame (1) and a crushing device drive motor (502). The crushing drive shaft (503) of the crushing device drive motor (502) extends into the inner cavity of the housing (501). The blade (504) located in the inner cavity of the housing (501) is fixed on the crushing drive shaft (503). A crushing inlet (505) and a crushing outlet (506) are provided on the housing (501). The crushing inlet (505) is directly opposite the outlet of the belt conveyor (4). The crushing outlet (506) is located directly below the housing (501). A receiving vessel is provided directly below the crushing outlet (506). The receiving vessel is provided on the frame (1).

10. The self-propelled tobacco stick puller according to claim 9, characterized in that: The top of the housing (501) is provided with a tool changing window (507).

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