Modular lotus root planting, maintaining and harvesting integrated machine and working method

Abstract

The application discloses a modular lotus root planting, maintaining and harvesting integrated machine and a working method thereof. The modular lotus root planting, maintaining and harvesting integrated machine comprises a walking mechanism and a working tool. A storage box is arranged in the walking mechanism. The working tool comprises a planting tool, a harvesting tool and a plant protection tool. The planting tool, the harvesting tool and the plant protection tool can be connected with the walking mechanism independently. When the planting tool is connected with the walking mechanism, lotus seed can enter the planting tool from the storage box, and the lotus seed is planted in the soil through the planting tool. When the harvesting tool is connected with the walking mechanism, the lotus root collected by the harvesting tool can enter the storage box of the walking mechanism. When the plant protection tool is connected with the walking mechanism, the plant protection tool can loosen the soil. The planting, harvesting and maintaining of the lotus root can be realized.

Description

Technical Field

[0001] This invention relates to the field of lotus root planting, harvesting and maintenance technology, and in particular to a modular integrated machine for lotus root planting, maintenance and harvesting and its working method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Currently, there is no integrated machine for planting, harvesting, and maintaining lotus roots; only separate lotus root planting and harvesting machines exist.

[0004] Current lotus root harvesting machines primarily use high-pressure water jets to spray water into the soil, flushing the lotus roots out. These separated lotus roots are then transported to a storage facility via a conveyor belt. However, because the direction of movement of the separated lotus roots is not fixed, they cannot all enter the conveyor belt for transport, affecting the efficiency of collection and transport. To ensure the lotus roots can smoothly enter the conveyor belt, some machines use baffles in front of the conveyor belt to compress and block the lotus roots in the water, thus forcing them into the conveyor. However, the position of these baffles is not adjustable, making them unsuitable for harvesting lotus roots in water of varying depths. Furthermore, these baffles only compress the lotus roots, not guide them, easily causing blockages at the front of the conveyor belt, thus affecting the collection and transport of the lotus roots.

[0005] Current lotus root planting machines simply plant lotus roots in underwater mud without adjusting the planting direction and spacing. This results in lotus roots that do not meet the required spacing and have inconsistent planting directions. When the lotus roots are planted in inconsistent directions, the high-pressure water gun cannot adjust its spray direction in time according to the direction of the lotus roots, leading to low harvesting efficiency. Summary of the Invention

[0006] To address the aforementioned problems, this invention proposes a lotus root harvesting mechanism, an integrated machine, and a harvesting method, which enables the planting, harvesting, and maintenance of lotus roots.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] Firstly, a modular lotus root planting, maintenance, and harvesting integrated machine is proposed, including a walking mechanism and operating implements; a storage box is set in the walking mechanism; the operating implements include planting implements, harvesting implements, and plant protection implements; the planting implements, harvesting implements, and plant protection implements can all be connected to the walking mechanism individually.

[0009] When the planting tool is connected with the walking mechanism, the lotus seed in the storage box can enter the planting tool, and the lotus seed is planted in the soil by the planting tool;

[0010] When the harvesting tool is connected with the walking mechanism, the lotus root collected by the harvesting tool can enter the storage box of the walking mechanism;

[0011] When the plant protection tool is connected with the walking mechanism, the plant protection tool can loosen the soil.

[0012] Further, the walking mechanism comprises a base support and a storage mechanism; the storage mechanism comprises a storage box, a first lifting mechanism and a second lifting mechanism; the storage box comprises an inner box and an outer box, the outer box is connected with the base support through a first connecting shaft and can rotate around the first connecting shaft, the inner box is connected with the outer box through a second connecting shaft and can rotate around the second connecting shaft, the first connecting shaft is arranged along the transverse direction of the walking mechanism, the second connecting shaft is arranged along the front-rear direction of the walking mechanism, the second lifting mechanism is connected with the first end of the outer box and is used to drive the first end of the outer box to move up and down, so as to drive the outer box and the inner box to rotate around the first connecting shaft, so that the lotus seed in the storage box can be poured into the planting tool, the first lifting mechanism is connected with the first end of the inner box and is used to drive the first end of the inner box to lift, so as to drive the inner box to rotate around the second connecting shaft.

[0013] Further, the walking mechanism further comprises a power system, the power system comprises a propeller and a second motor; the second motor and the propeller are both connected with the base support, and the propeller can rotate around its own axis, the second motor is connected with the propeller and is used to drive the propeller to rotate.

[0014] Further, the planting tool comprises a fixed support, a conveying mechanism and a planting mechanism, the fixed support is connected with the walking mechanism, the conveying mechanism and the planting mechanism are both connected with the fixed support, the lotus seed in the storage box can fall onto the conveying mechanism and be conveyed to the planting mechanism by the conveying mechanism, and the planting mechanism is used to press the lotus seed into the soil.

[0015] Further, the conveying mechanism comprises a conveying track, a gate-shaped plate, a visual module and an inclined plate, the conveying track is connected with the fixed support in a front-to-back arrangement, the inclined plate is arranged at the front end of the conveying track and inclines downward to the planting mechanism, two gate-shaped plates capable of being opened and closed are arranged between the conveying track and the inclined plate; the visual module is used to acquire the image of the lotus seed on the conveying track, determine the inclination angle of the lotus seed on the conveying track according to the image of the lotus seed, and control the opening and closing angle of the two gate-shaped plates according to the inclination angle, so as to adjust the lotus seed to the posture with the bud facing forward and enter the inclined plate.

[0016] Further, the harvesting tool comprises a picking support, a lotus root picking spray gun, a conveying belt, a pressing mechanism and a cleaning mechanism; the lotus root picking spray gun is connected with the picking support and is used for spraying water flow into the soil to separate the lotus roots from the soil; the pressing mechanism comprises a pressing support, a pressing belt wheel and a pressing belt; the pressing support is fixed to the front end of the picking frame and can move up and down along the picking frame; the pressing belt is sleeved on the pressing belt wheel; the pressing belt wheel is rotationally connected with the pressing support; the pressing belt wheel rotates to drive the pressing belt to rotate, so as to convey the lotus roots separated from the soil to the front end of the conveying belt; the conveying belt is arranged from front to back along the picking support; the cleaning mechanism is connected with the rear end of the picking support; the conveying belt rotates to convey the lotus roots at the front end into the cleaning mechanism; the picking support is connected with the walking mechanism; and the cleaning mechanism can pour the lotus roots into the storage box.

[0017] Further, a rack motor is arranged on the pressing support, a rack is arranged on the picking support, the rack is meshingly connected with the rack motor, and a position detection device is further arranged on the pressing mechanism.

[0018] The position detection device is used for detecting whether the pressing belt of the pressing mechanism contacts the water surface.

[0019] The rack motor is used for stopping rotating when the position detection device detects that the pressing belt contacts the water surface.

[0020] Further, the cleaning mechanism comprises a shaking basket support, a shaking basket and a cleaning water gun; the shaking basket is connected with the shaking basket support and can move along the shaking basket support; the cleaning water gun is fixed to the upper end of the shaking basket and is used for spraying water into the shaking basket; and the shaking basket support is connected with the picking support.

[0021] Further, the shaking basket comprises a frame, a bottom plate and a hatch; the bottom plate is connected with the bottom of the frame and can flip up and down relative to the bottom of the frame; and the hatch is connected with the side of the frame and can be opened and closed.

[0022] Further, the maintenance mechanism comprises a maintenance base and a stirring mechanism; the stirring mechanism comprises a stirring mechanism support, a stirring power system and stirring blades; the stirring mechanism support is connected with the maintenance base; the maintenance base is connected with the walking mechanism; the stirring blades and the stirring power system are both connected with the stirring mechanism support, and the stirring blades can rotate around their own axes; and the stirring power system is connected with the stirring blades.

[0023] In a second aspect, a working method of the modular lotus root planting, maintaining, picking and harvesting all-in-one machine is provided.

[0024] When it is necessary to loosen the soil, the plant protection tool is connected with the walking mechanism; the walking mechanism walks; and the plant protection tool is used to loosen the soil.

[0025] When planting lotus seeds, the planting tool is connected with the walking mechanism, the walking mechanism walks, the lotus seeds in the storage box enter the planting tool, and the lotus seeds are planted in the soil through the planting tool;

[0026] When the lotus is harvested, the harvesting tool is connected with the walking mechanism, the walking mechanism walks, the lotus in the soil is harvested by the harvesting tool, and the harvested lotus is sent into the storage box of the walking mechanism.

[0027] Compared with the prior art, the beneficial effects of the present application are:

[0028] 1. The working tool of the present application comprises a harvesting tool, a planting tool and a maintenance tool, and each tool can be connected with the walking mechanism, the planting tool realizes the planting of lotus in rows and other large-scale planting, the maintenance tool can realize the function of loosening the soil when planting lotus segments, the harvesting tool realizes the harvesting of lotus, and the harvested lotus is transported to the storage box, the modular design can realize one machine with multiple functions, and it is economical and practical.

[0029] 2. The walking mechanism of the present application is provided with a storage box, the storage box can be laterally turned over and forwardly turned over, the lotus seeds in the storage box can be poured onto the planting tool by using the forward turning function of the storage box, and the lotus in the storage box can be poured onto the shore by using the lateral turning function of the storage box, thereby realizing the automatic unloading function of the storage box, and the integrated machine of the present application can realize the planting and harvesting of lotus.

[0030] 3. The planting tool of the present application is provided with a collecting module to monitor the inclination angle of the lotus seeds on the conveying belt, and the opening angle of the two gate plates is controlled according to the inclination angle, so as to adjust the lotus seeds to the posture with the bud facing forward, enter the inclined plate, and realize the consistency of the planting direction of the lotus seeds.

[0031] 4. The planting tool of the present application further controls the opening frequency of the gate plate through the planting interval, so as to ensure the planting interval of the lotus after planting, and meet the requirement of the planting interval.

[0032] 5. The harvesting tool of the present application is provided with a pressing mechanism in front of the conveying belt, the lotus in the water is pressed by the pressing belt, and the power and the guide for the movement of the pressed lotus to the conveying belt are provided by the rotation of the pressing belt, so as to transport the lotus in the water to the conveying belt and prevent the lotus from being squeezed and blocked.

[0033] 6. The pressing mechanism of the present application can move up and down relative to the picking support, so as to adjust the relative height of the pressing mechanism and the lotus picking spray gun, thereby adapting to the picking of lotus with different depths and improving the adaptability of the integrated machine.

[0034] 7、The present application also sets up the baffle, provides the limit direction for the two sides of lotus root in water through the baffle, so as to transport all lotus roots to the conveyer belt.

[0035] 8、The present application sets up position detection device on the compression mechanism, detects whether the compression band contacts the water surface, when contacting the water surface, the rack motor stops rotating, and the compression mechanism position adjusts contact, so as to realize the automatic control of the height of the compression mechanism.

[0036] 9、The present application also sets up the cleaning mechanism, the lotus root collected by the conveyer belt is transported to the cleaning mechanism, and the lotus root is cleaned by the cleaning mechanism, so as to guarantee the cleanliness of the finally obtained lotus root.

[0037] 10、The present application sets up the stirring mechanism, so that the soil can be loosened by the stirring mechanism, and the maintenance function before planting lotus root is realized.

[0038] The advantages of the additional aspects of the present application will be partly given in the following description, partly will become obvious from the following description, or be known by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0039] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the application, and together with the description of the exemplary embodiments of the application given below, explain the application, and do not constitute an undue limitation on the scope of the same.

[0040] Figure 1 The first structure diagram of lotus root harvesting mechanism disclosed by the embodiment is shown in the figure;

[0041] Figure 2 The second structure diagram of lotus root harvesting mechanism disclosed by the embodiment is shown in the figure;

[0042] Figure 3 The structure diagram of all-in-one machine disclosed by the embodiment is shown in the figure;

[0043] Figure 4 The first structure diagram of walking mechanism disclosed by the embodiment is shown in the figure;

[0044] Figure 5 The second structure diagram of walking mechanism disclosed by the embodiment is shown in the figure;

[0045] Figure 6 The structure diagram of planting mechanism disclosed by the embodiment is shown in the figure;

[0046] Figure 7 The connection structure diagram of planting mechanism and walking mechanism disclosed by the embodiment is shown in the figure;

[0047] Figure 8 The structure diagram of maintenance mechanism disclosed by the embodiment is shown in the figure;

[0048] Figure 9The maintenance mechanism and the walking mechanism connection structure disclosed in the embodiment is shown in the figure.

[0049] Wherein: 1, walking mechanism, 2, harvesting mechanism, 3, planting mechanism, 4, maintenance mechanism, 1-1, No. 2 motor, 1-2, chain transmission wheel, 1-3, support frame, 1-4, propeller, 1-5, power system support, 1-6, warehouse system support, 1-7, walking base, 1-8, box door, 1-9, lock, 1-10, No. 1 lifting mechanism, 1-11, storage box, 1-12, No. 2 lifting mechanism, 1-13, polished rod, 1-10-1, lead screw, 1-10-2, lead screw nut, 2-1, harvesting belt support, 2-2, baffle, 2-3, rack motor, 2-4, limiter, 2-5, limiting rod, 2-6, compression belt wheel, 2-7, compression belt, 2-8, compression support, 2-9, lotus root harvesting spray gun, 2-10, hull base, 2-11, float box, 2-12, transmission belt support, 2-13, shaking basket support, 2-14, shaking basket, 2-15, flushing water gun, 2-16, bottom plate, 2-17, hatch, 2-18, hatch cover connecting rod, 2-19, motor, 2-20, conveyor belt, 2-21, shaking motor, 2-22, piston, 2-23, lock, 2-24, motor connecting rod, 2-25, shaking basket connecting rod, 2-26, belt wheel, 3-1, gate plate, 3-2, driven wheel, 3-3, moving support, 3-4, soil separating mechanism, 3-5, seed pressing mechanism, 3-6, inclined plate, 3-7, worm and gear mechanism, 3-8, planting base, 3-9, support, 3-10, transmission belt wheel, 3-11, planting baffle, 3-12, connecting locking mechanism, 3-13, conveyor track, 3-14, motor, 3-15, drive wheel, 3-16, auxiliary wheel, 3-17, vision module, 3-18, reversing wheel, 3-19, gate plate motor, 4-1, worm, 4-2, lifting mechanism support, 4-3, worm, 4-4, maintenance base, 4-5, stirring mechanism support, 4-6, stirring blade, 4-7, chain transmission motor, 4-8, chain transmission mechanism, 4-9, lock, 4-10, motor. DETAILED DESCRIPTION

[0050] The application will be further described below in conjunction with the drawings and examples.

[0051] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0052] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0053] In the present application, the terms such as "fixedly connected", "connected", "connected" and the like should be understood in a broad sense, which can be fixedly connected, integrally connected or detachably connected, which can be directly connected or indirectly connected through an intermediate medium. For relevant researchers or technicians in the art, the specific meaning of the above terms in the present application can be determined according to the specific circumstances, and cannot be understood as a limitation of the present application.

[0054] In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0055] Embodiment 1

[0056] Most lotus roots mature in autumn, mainly harvested and marketed in July-October, and some late-maturing lotus roots may be marketed after overwintering. Most lotus root harvesting relies on manual harvesting, which is laborious and low in efficiency. At present, lotus root harvesting machines mainly consist of a power device, a high-pressure water pump, a hydraulic system, a water distributor and a high-pressure nozzle (spray head), a floating cultivation device, an operating device, a walking device and the like. According to the harvesting structure and the floating cultivation device, there are three forms: hand-held lotus root digger, boat-type lotus root digger and floating pontoon-type lotus root digger. The hand-held lotus root digger needs someone to work underwater, which is inconvenient for harvesting in winter; the boat-type lotus root digger needs a certain water depth, is relatively bulky and expensive; the floating pontoon-type lotus root digger needs a certain water depth and manual underwater auxiliary operation.

[0057] In order to realize the planting, harvesting and maintenance operations of lotus roots without manual assistance and fully automatically, in the embodiment, a lotus root harvesting mechanism is disclosed, as shown in Figures 1-9 A modular lotus root planting, maintenance and harvesting all-in-one machine, comprising a walking mechanism 1 and a working implement; a storage box 1-11 is arranged in the walking mechanism; the working implement comprises a planting implement 3, a harvesting implement 2 and a plant protection implement 4; the planting implement 3, the harvesting implement 2 and the plant protection implement 4 can be connected with the walking mechanism 1 separately;

[0058] When the planting implement 3 is connected with the walking mechanism 1, the lotus seed in the storage box 1-11 can enter the planting implement 3, and the lotus seed is planted in the soil by the planting implement 3;

[0059] When the harvesting implement 2 is connected with the walking mechanism 1, the lotus roots collected by the harvesting implement 2 can enter the storage box of the walking mechanism 1;

[0060] When the plant protection machine 4 is connected with the walking mechanism 1, the plant protection machine 4 can loosen the soil.

[0061] As shown in Figure 4 , Figure 5 , the walking mechanism comprises a base support and a storage mechanism; the storage mechanism comprises a storage box 1-11, a first lifting mechanism 1-10 and a second lifting mechanism 1-12, the first lifting mechanism 1-10, the second lifting mechanism 1-12 and the storage box 1-11 are connected with the base support; the storage box 1-11 comprises an inner box and an outer box, the outer box is connected with the base support through a first connecting shaft and can rotate around the first connecting shaft, the inner box is connected with the outer box through a second connecting shaft and can rotate around the second connecting shaft, the first connecting shaft is arranged along the transverse direction of the walking mechanism, the second connecting shaft is arranged along the front-rear direction of the walking mechanism, the second lifting mechanism 1-12 is connected with the first end of the outer box and is used to drive the first end of the outer box to move up and down, so as to drive the outer box and the inner box to rotate around the first connecting shaft, so that the lotus seeds in the storage box can be poured into the planting machine, the first lifting mechanism 1-10 is connected with the first end of the inner box and is used to drive the first end of the inner box to lift, so as to drive the inner box to rotate around the second connecting shaft, thereby realizing the lateral pouring function of the storage box.

[0062] The first lifting mechanism 1-10 and the second lifting mechanism 1-12 of the embodiment each comprise a lead screw 1-10-1 and a lead screw nut 1-10-2, the lead screw nut 1-10-2 is threadedly connected with the lead screw 1-10-1, the storage box can rotate in two degrees of freedom, i.e., the lateral and forward directions, which are respectively realized by the first lifting mechanism 1-10 and the second lifting mechanism 1-12. The first connecting shaft adopts a light rod 1-13, the light rod 1-13 is connected with the second end of the outer box, the second connecting shaft is connected with the second end of the inner box, the second connecting shaft is perpendicular to the first connecting shaft, so that when the outer box rotates around the first connecting shaft, the inner box is driven to rotate together, and the inner box can rotate around the second connecting shaft alone.

[0063] The first end of the outer box and the first end of the inner box are each connected with a lead screw nut 1-10-2 alone, each lead screw nut is connected with the storage box through a hinged rod, the two ends of the hinged rod are respectively hinged to the lead screw nut and the storage box, the two lead screws 1-10-1 are fixed on the base support and move along the lead screws 1-10-1 through the lead screw nuts 1-10-2, thereby realizing the angle rotation of the storage box in two degrees of freedom, i.e., the lateral and forward directions.

[0064] The inner box side and the outer box front of the storage box 1-11 are respectively provided with openable box doors 1-8, each of the box doors 1-18 is rotationally connected to the storage box 1-11, and the edge of each of the box doors 1-8 is connected to the storage box 1-11 through a connecting rod mechanism, when the inner box or the outer box is overturned, the corresponding box door 1-8 is opened to the outside of the storage box 1-11, so that the lotus rhizomes in the storage box can be poured out.

[0065] The walking mechanism further comprises a power system, the power system comprises a propeller 1-4 and a second motor 1-1; the second motor 1-1 and the propeller 1-4 are connected with the base support, and the propeller 1-4 can rotate around its own axis, the second motor 1-1 is connected with the propeller 1-4, and is used for driving the propeller to rotate.

[0066] The second motor 1-1 is connected with the chain transmission wheel 1-2 and can drive the chain transmission wheel 1-2 to rotate, the chain transmission wheel 1-2 is connected with the driven wheel through a chain, the driven wheel is fixed on the propeller mounting shaft, the propeller 1-4 is fixed on the propeller mounting shaft, the propeller mounting shaft is rotationally connected to the support frame 1-3, and the support frame 1-3 is connected with the base support. When the second motor 1-1 drives the chain transmission wheel 1-2 to rotate, the driven wheel is driven to rotate through chain transmission, and the propeller 1-4 is further driven to rotate, thereby providing the walking mechanism and each mechanism connected with the walking mechanism with forward power.

[0067] The base support comprises a walking base 1-7, a power system support 1-5, a storage system support 1-6 and a locker 1-9. The power system support 1-5 is fixed on the walking base 1-7 and is used for fixing the second motor 1-1 and the support frame 1-3. The storage system support 1-6 is fixed on the walking base 1-7 and is used for being connected with the storage box. The locker 1-9 is fixedly installed at the head of the walking base 1-7 and is used for being connected with the locker on the rest of the mechanism, and in addition, the two lockers can be disassembled after being connected.

[0068] As shown in Figure 6 , Figure 7 The planting machine comprises a fixed support, a transportation mechanism and a planting mechanism, the fixed support is connected with the walking mechanism, the transportation mechanism and the planting mechanism are connected with the fixed support, the lotus seedlings in the storage box can fall on the transportation mechanism and be transported to the planting mechanism, and the planting mechanism is used for pressing the lotus seedlings into the soil.

[0069] Specifically, the planting mechanism 3 comprises a fixed support, a transportation mechanism, a planting mechanism and a wire driving mechanism.

[0070] The fixed support includes a planting base 3-8, a support 3-9, a planting baffle 3-11, a connecting locking mechanism 3-12 and a visual module 3-17. The support 3-9, the planting baffle 3-11 and the connecting locking mechanism 3-12 are fixed on the planting base 3-8; the planting baffle 3-11 is located at the rear of the support 3-9 and is used for limiting the movement range of the lotus seedlings on the transportation mechanism to ensure smooth transportation; the visual module 3-17 is used for observing the lotus seedling situation at the transportation mechanism, coordinating the work of the line driving mechanism and the planting mechanism to realize lotus seedling planting; and the connecting locking mechanism 3-12 is located at the tail of the planting base and is used for connecting and fixing with the walking mechanism, so as to facilitate module replacement and realize the "one machine with multiple uses" of planting, maintenance and harvesting.

[0071] The connecting locking mechanism 3-12 can be a locker, which is connected with the locker 1-9 in the walking mechanism to connect the planting mechanism with the walking mechanism.

[0072] The transportation mechanism includes a conveying track 3-13, gate type plates 3-1, a visual module and an inclined plate 3-6. The conveying track 3-13 is connected with the fixed support in a front-to-rear arrangement. The front end of the conveying track 3-13 is provided with the inclined plate 3-6, which is inclined downward to the planting mechanism. Two gate type plates 3-1 capable of being opened and closed are arranged between the conveying track 3-13 and the inclined plate 3-6. The visual module is used for acquiring the image of the lotus seedlings on the conveying track. According to the image of the lotus seedlings, the inclination angle of the lotus seedlings on the conveying track is determined, and the opening angle of the two gate type plates is controlled according to the inclination angle, so as to adjust the lotus seedlings to the posture with the sprouts facing forward and enter the inclined plate, thereby realizing the consistency of the planting direction of the lotus seedlings.

[0073] The conveying track is connected with the fixed support through a transmission pulley 3-10. The transmission pulley 3-10 is rotationally connected with the fixed support. The transmission pulley is connected with a transportation motor. The transportation motor drives the transmission pulley 3-10 to rotate, thereby driving the conveying track to rotate, transporting the lotus seedlings to the inclined plate 3-6, and making the lotus seedlings slide to the lower side of the planting mechanism through the inclined plate 3-6.

[0074] The transportation motor drives the transmission pulley 3-10 to rotate through a worm gear mechanism 3-7. The two gate type plates 3-1 are fixed at the front end of the support 3-9. Each gate type plate 3-1 is connected with a separate gate type plate motor 3-19, which provides power for the rotation of the gate type plate 3-1, thereby realizing the opening and closing of the two gate type plates 3-1. When the two gate type plates 3-1 are closed, the lotus seedlings on the conveying track cannot reach the inclined plate 3-6. When the two gate type plates 3-1 are opened, the direction of the lotus seedlings on the conveying track is adjusted through the opening angle of the gate type plates 3-1.

[0075] The visual module is fixed on the support 3-9 and includes an image acquisition device and a controller. The image acquisition device is configured to acquire the image of the lotus seed on the conveying track. The controller is configured to determine the inclination angle of the lotus seed on the conveying track according to the image of the lotus seed, and control the opening and closing angle of the two gate plates according to the inclination angle.

[0076] In addition, the controller is further configured to determine the opening and closing frequency of the gate plate 3-1 according to the planting interval of the lotus seed, and intercept or release the lotus seed, so that the planting interval of the lotus seed meets the requirements.

[0077] The wire driving mechanism is composed of a motor 3-14, a driving wheel 3-15, an auxiliary wheel 3-16, a reversing wheel 3-18 and a terminal driven wheel 3-2. The motor 3-14 and the driving wheel 3-15 are connected through a gear transmission to realize power transmission. The driving wheel 3-15 has a double-layer wheel structure, the lower gear is engaged with the motor gear, and the upper wire wheel is fixed with a driving wire. The auxiliary wheel 3-16 is fixed on the support and is used to offset the direction of the wire. The reversing wheel 3-18 is fixed at the front end of the support and is used to change the direction of the wire from horizontal to vertical. The terminal driven wheel 3-2 is connected with the moving support 3-3 of the seeding mechanism, and the driving wheel is driven to rotate by the motor 3-14, so as to drive the wire to move and finally drive the moving support 3-3 to move up and down.

[0078] The seeding mechanism includes a moving support, a soil separating mechanism and a seed pressing mechanism. The moving support is connected with the fixed support and can move up and down along the fixed support. The seed pressing mechanism is connected with the moving support and can move up and down relative to the moving support to press the lotus seed into the soil. The soil separating mechanism is connected with the seed pressing mechanism and can move left and right relative to the seed pressing mechanism to separate the soil. The conveying mechanism is used to convey the lotus seed to the lower side of the seed pressing mechanism.

[0079] The seeding mechanism includes a moving support 3-3, a soil separating mechanism 3-4 and a seed pressing mechanism 3-5. The moving support 3-3 is a four-bar mechanism connected with the fixed support and can move up and down along the fixed support. The wire driving mechanism provides power to realize the up and down movement. The seed pressing mechanism 3-5 is driven by a gas cylinder to realize the up and down movement, and the lotus seed is pressed into the silt. The soil separating mechanism 3-4 is connected with the seed pressing mechanism 3-5 by a connecting rod, and cooperates with the seed pressing mechanism to separate the silt before the lotus seed is pressed in.

[0080] The harvesting tool comprises a picking support, a lotus root picking spray gun 2-9, a conveying belt 2-20, a pressing mechanism and a cleaning mechanism; the lotus root picking spray gun 2-9 is connected with the picking support and used for spraying water flow into the soil to separate the lotus roots from the soil; the pressing mechanism comprises a pressing support 2-8, a pressing belt wheel 2-6 and a pressing belt 2-7, the pressing support 2-8 is fixed to the front end of the picking frame and can move up and down along the picking frame, the pressing belt 2-7 is sleeved on the pressing belt wheel 2-6, the pressing belt wheel 2-6 is rotationally connected with the pressing support 2-8, the pressing belt wheel 2-6 rotates to drive the pressing belt 2-7 to rotate, the lotus roots separated from the soil are conveyed to the front end of the conveying belt 2-20, the conveying belt 2-20 is arranged from front to back along the picking support, the cleaning mechanism is connected with the rear end of the picking support, the rotation of the conveying belt 2-20 can convey the lotus roots at the front end into the cleaning mechanism, the picking support is connected with the walking mechanism, and the cleaning mechanism can pour the lotus roots into the storage box.

[0081] Specifically, the picking support comprises a hull base 2-10, a float box 2-11, a harvesting belt support 2-1 and a locker 2-23; the float box 2-11 and the harvesting belt support 2-1 are fixedly connected on the hull base 2-10 and used for providing the hull with buoyancy. The locker 2-23 is fixedly installed at the tail of the hull base 2-10 and used for being connected with the walking mechanism.

[0082] The lotus root picking spray gun 2-9 is fixed on the hull base and used for spraying water flow into the soil under water to spray the lotus roots in the soil, the lotus root picking spray gun 2-9 is communicated with a pressurizing system, and the pressurizing system is communicated with a water pump.

[0083] The picking support is further connected with a baffle 2-2 at both sides of the front end, which is used for gathering the lotus roots separated from the soil.

[0084] Preferably, the baffle 2-2 is fixed on the hull base 2-10 and used for gathering the lotus roots in water to prevent the lotus roots from floating away from the side of the hull base.

[0085] A rack motor 2-3 is arranged on the pressing support 2-8, a rack is arranged on the picking support, the rack is meshingly connected with the rack motor 2-3, the up-and-down lifting movement of the pressing support is realized through the meshing of the gear and the rack, and a position detection device is further arranged on the pressing mechanism.

[0086] The position detection device is used for detecting whether the pressing belt 2-7 contacts the water surface in the pressing mechanism.

[0087] The rack motor 2-3 is used for stopping rotating when the position detection device detects that the pressing belt 2-7 contacts the water surface.

[0088] The pressing belt wheel 2-6 is rotatably connected to the pressing support 2-8 through a shaft and a bearing, the pressing belt 2-7 is sleeved on the pressing belt wheel 2-6, the pressing belt wheel 2-6 is connected with a belt wheel motor, the pressing belt wheel 2-6 is driven counterclockwise by the belt wheel motor, so as to drive the pressing belt 2-7 to rotate, and the lotus roots are transported to the direction of the conveying belt 2-20.

[0089] The position detection device comprises a position limiter 2-4 and a position limiting rod 2-5, the position limiter 2-4 is fixed on the pressing support 2-8, the position limiting rod 2-5 is rotatably connected to the pressing support 2-8, the front end of the position limiting rod 2-5 is provided with a float, which can rotate according to the water level, when the float at the end of the position limiting rod contacts the position limiter 2-4, it is determined that the pressing belt 2-7 in the pressing mechanism contacts the water surface.

[0090] Preferably, the position limiting rod 2-5 is installed on the pressing support 2-8 through a shaft and a bearing, and the front end of the position limiting rod 2-5 is a foam float.

[0091] The working principle of the pressing mechanism is as follows: the rack motor drives the pressing mechanism to move downward to approach the water surface, at this time, the position limiting rod rotates, when the pressing mechanism reaches the predetermined position, the position limiting rod presses down the position limiter, and transmits a signal to the rack motor, so that the rack motor stops and positions. At the predetermined position, the pressing belt just contacts the water surface and rotates counterclockwise. This movement can press the lotus roots in the water and transport them to the rear of the mechanism, so as to prevent the water flow generated by the forward movement of the ship body from pushing away the floating lotus roots, and improve the harvesting efficiency.

[0092] The conveying belt 2-20 is crossed on the belt wheel 2-26, the belt wheel is installed on the conveying belt support 2-12 through a shaft and a bearing, the belt wheel 2-26 is connected with the motor 2-19, the belt wheel 2-26 is driven to rotate by the motor 2-19, and then the conveying belt 2-20 is driven to rotate, so as to transport the lotus roots at the front end of the conveying belt to the rear end of the conveying belt and into the cleaning mechanism.

[0093] The conveying belt 2-20 has transverse strip-shaped protrusions, which are used to prevent the lotus roots from rolling off during the transportation process, and can realize the salvaging of the lotus roots from the water surface and the transportation to the rear cleaning mechanism. The conveying belt support 2-12 is connected with the ship body base 2-10.

[0094] The cleaning mechanism comprises a shaking basket support 2-13, a shaking basket 2-14 and a cleaning water gun 2-15, the shaking basket 2-14 is connected with the shaking basket support 2-13 and can move along the shaking basket support 2-13, the cleaning water gun 2-15 is fixed on the upper end of the shaking basket 2-14 and is used to spray water into the shaking basket 2-14, and the shaking basket support 2-13 is connected with the picking support.

[0095] The shaking basket comprises a frame, a bottom plate 2-16 connected to the bottom of the frame and capable of being flipped up and down relative to the frame, and a hatch 2-17 connected to the side of the frame and capable of being opened and closed, the bottom plate 2-16 is connected to the hatch 2-17 through a hatch linkage 2-18, and when the bottom plate 2-16 is flipped up, the hatch 2-17 is opened through the hatch linkage 2-18.

[0096] Specifically, the shaking basket support 2-13 is fixed with a shaking motor 2-21 and a piston 2-22; the output shaft of the shaking motor 2-21 is fixedly connected with a motor linkage 2-24, the motor linkage 2-24 is hingedly connected with a shaking basket linkage 2-25, the shaking basket linkage 2-25 is hingedly connected with the shaking basket 2-14, and the shaking basket 2-14 is installed on the guide rail of the shaking basket support 2-13 and can move along the guide rail, forming a crank slider mechanism, the shaking motor 2-21 drives the shaking basket 2-14 to move through the mechanism, so as to realize the shaking of the shaking basket 2-14 and clean the mud and stones on the lotus roots. The bottom plate 2-16 and the hatch 2-17 are rotatably installed on the frame of the shaking basket through shafts and bearings and can be opened and closed; the bottom plate 2-16 and the hatch 2-17 are hingedly connected through the hatch linkage 2-18, forming linkage, when the bottom plate 2-16 is lifted up by the piston 2-22 and flipped up, the hatch 2-17 is opened outward, so as to pour the lotus roots into the storage box. The middle part of the bottom plate 2-16 is provided with a screen for filtering the mud and stones and other foreign matters. The flushing water gun 2-15 is fixedly installed on the shaking basket 2-14, and the water outlet points to the inside of the shaking basket 2-14, when the lotus root segments exist in the basket, the flushing water gun 2-15 is opened to flush the lotus root segments, and the shaking basket is shaken, so as to realize automatic flushing and cleaning of the lotus root segments.

[0097] The pressing mechanism is arranged in front of the conveying belt, the pressing belt is used to press the lotus roots in water, and the rotating pressing belt provides power and guidance for the pressed lotus roots to move to the conveying belt, so as to transport the lotus roots in water to the conveying belt and prevent the lotus roots from being pressed and blocked.

[0098] The maintenance mechanism comprises a maintenance base and a stirring mechanism, the stirring mechanism comprises a stirring mechanism support, a stirring power system and stirring blades, the stirring mechanism support is connected with the maintenance base, the maintenance base is connected with the walking mechanism, the stirring blades and the stirring power system are both connected with the stirring mechanism support, and the stirring blades can rotate around their own axes, and the stirring power system is connected with the stirring blades.

[0099] As Figure 8 , Figure 9As shown, the maintenance mechanism includes a maintenance base 4-4, a stirring mechanism and a lifting mechanism. The stirring mechanism includes a stirring mechanism support 4-5, a chain transmission motor 4-7, a chain transmission mechanism 4-8 and stirring blades 4-6. The stirring mechanism support 4-5 is fixed on the maintenance base 4-4 for fixing the stirring mechanism, the stirring blades 4-6 are rotationally connected with the stirring mechanism support 4-5, the chain transmission motor 4-7 is fixed on the stirring mechanism support 4-5, the chain transmission motor 4-7 is connected with the stirring blades 4-6 through the chain transmission mechanism 4-8 to drive the rotation of the stirring blades. The functions such as soil loosening during lotus root section planting are realized, and the stirring blades are reversed to prevent being stuck by waterweeds.

[0100] The lifting mechanism includes a worm gear 4-1, a worm 4-3, a lifting mechanism support 4-2 and a motor 4-10. The worm gear 4-1 is connected with the stirring mechanism support 4-5, the worm gear 4-1 and the worm 4-3 are meshingly connected, the motor 4-10 is connected with the worm 4-3 and can drive the rotation of the worm 4-3, thereby driving the rotation of the worm gear 4-1 and finally driving the lifting and lowering of the stirring mechanism support 4-5. The lifting and lowering of the stirring blades 4-6 are realized. The lifting mechanism support 4-2 is fixed on the maintenance base 4-4 for fixing the lifting mechanism.

[0101] The maintenance base 4-4 is also connected with a lock 4-9. The lock 4-9 is fixedly installed at the tail of the maintenance base 4-4 for being connected with the lock on the traveling mechanism.

[0102] The harvesting integrated machine disclosed in the embodiment can solve the collection and storage functions of lotus roots and perform secondary cleaning on the lotus root blocks in the collection process. The storage box can rotate in two degrees of freedom, which is realized by a first lifting mechanism and a second lifting mechanism to realize the function of automatic unloading. The pressing mechanism provides guidance, pressure and power for the walking of the conveying belt for the lotus roots in water, and the cleaning mechanism can perform secondary cleaning of the lotus root blocks. The opening and closing angle of the visual module in the planting mechanism coordinated with the gate type plate can unify the planting direction of the lotus seedlings, realize the planting of rows and columns and other large-scale planting, facilitate the walking and harvesting of the lotus root digging machine, and be more conducive to the exertion of mechanical performance, and also reduce the burden and improve the efficiency of the research work of the lotus root digging machine. The stirring mechanism in the maintenance mechanism can solve the functions such as soil loosening during lotus root section planting, and the stirring blades are reversed to prevent being stuck by waterweeds. The traveling mechanism can work automatically to realize the function of unmanned driving without manual auxiliary work in water. The modular design can realize one machine with multiple uses and is economical and practical.

[0103] Embodiment 2

[0104] In this embodiment, a working method of the modular lotus root planting, maintaining and harvesting integrated machine disclosed in embodiment 1 is disclosed, which comprises the following steps:

[0105] When the soil needs to be loosened, the plant protection tool is connected with the walking mechanism, the walking mechanism walks, and the plant protection tool is used to loosen the soil;

[0106] When the lotus seeds are planted, the planting tool is connected with the walking mechanism, the walking mechanism walks, the lotus seeds in the storage box enter the planting tool, and the lotus seeds are planted in the soil through the planting tool;

[0107] When the lotus roots are harvested, the harvesting tool is connected with the walking mechanism, the walking mechanism walks, the harvesting tool harvests the lotus roots in the soil, and the harvested lotus roots are sent into the storage box of the walking mechanism.

[0108] The above describes the specific embodiments of the present application in combination with the drawings, but is not a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications or changes made by those skilled in the art on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A modular lotus root planting, maintaining, harvesting integrated machine, characterized in that, Includes a traveling mechanism and working implements; a storage box is installed in the traveling mechanism; The walking mechanism includes a base support and a storage mechanism; the storage mechanism includes a storage box, a first lifting mechanism, and a second lifting mechanism; the storage box includes an inner box and an outer box, the outer box is connected to the base support via a first connecting shaft and can rotate around the first connecting shaft, the inner box is connected to the outer box via a second connecting shaft and can rotate around the second connecting shaft, the first connecting shaft is arranged laterally along the walking mechanism, the second connecting shaft is arranged along the front-back direction of the walking mechanism, the second lifting mechanism is connected to the first end of the outer box and is used to drive the first end of the outer box to move up and down, thereby driving the outer box and the inner box to rotate around the first connecting shaft, so that the lotus seeds in the storage box can be poured into the planting machine; the first lifting mechanism is connected to the first end of the inner box and is used to drive the first end of the inner box to lift, thereby driving the inner box to rotate around the second connecting shaft; The implements include planting implements, harvesting implements, and maintenance mechanisms; each of the planting implements, harvesting implements, and maintenance mechanisms can be individually connected to the walking mechanism. When the planting machine is connected to the walking mechanism, the lotus seeds in the storage box can enter the planting machine and be planted in the soil by the planting machine; When the harvesting machine is connected to the walking mechanism, the lotus roots collected by the harvesting machine can enter the storage box of the walking mechanism; When the maintenance mechanism is connected to the walking mechanism, the maintenance mechanism can loosen the soil.

2. The modular lotus root planting, maintaining, and harvesting integrated machine according to claim 1, wherein, The walking mechanism also includes a power system, which includes a propeller and a second motor. Both the second motor and the propeller are connected to the base bracket, and the propeller can rotate around its own axis. The second motor is connected to the propeller and is used to drive the propeller to rotate.

3. The modular lotus root planting, maintenance, and harvesting integrated machine as described in claim 1, characterized in that, The planting equipment includes a fixed support, a transport mechanism, and a seeding mechanism. The fixed support is connected to the walking mechanism, and both the transport mechanism and the seeding mechanism are connected to the fixed support. The lotus seeds in the storage box can fall onto the transport mechanism and be transported to the seeding mechanism, which is used to press the lotus seeds into the soil.

4. The modular lotus root planting, maintenance, and harvesting integrated machine as described in claim 3, characterized in that, The transport mechanism includes a conveyor belt, gantry plates, a vision module, and ramps. The conveyor belt is connected to a fixed support in a front-to-back arrangement. A ramp is installed at the front end of the conveyor belt, tilting downwards to the seeding mechanism. Two gantry plates that can open and close are installed between the conveyor belt and the ramp. The vision module is used to acquire images of lotus seeds on the conveyor belt, determine the tilt angle of the lotus seeds on the conveyor belt based on the images, and control the opening and closing angles of the two gantry plates based on the tilt angle, thereby adjusting the lotus seeds to a forward-facing position as they enter the ramp.

5. The modular lotus root planting, maintenance, and harvesting integrated machine as described in claim 1, characterized in that, The harvesting equipment includes a harvesting frame, a harvesting spray gun, a conveyor belt, a compaction mechanism, and a cleaning mechanism. The harvesting spray gun is connected to the harvesting frame and is used to spray water into the soil to separate the lotus roots from the soil. The compaction mechanism includes a compaction frame, a compaction pulley, and a compaction belt. The compaction frame is fixed to the front end of the harvesting frame and can move up and down along the harvesting frame. The compaction belt is fitted onto the compaction pulley, which is rotatably connected to the compaction frame. When the compaction pulley rotates, it drives the compaction belt to rotate, transporting the lotus roots separated from the soil to the front end of the conveyor belt. The conveyor belt is arranged from front to back along the harvesting frame. The cleaning mechanism is connected to the rear end of the harvesting frame. When the conveyor belt rotates, it can transport the lotus roots from the front end into the cleaning mechanism. The harvesting frame is connected to a traveling mechanism, and the cleaning mechanism can pour the lotus roots into a storage box.

6. The modular lotus root planting, maintenance, and harvesting integrated machine as described in claim 5, characterized in that, A rack and pinion motor is installed on the clamping bracket, and a rack is installed on the harvesting bracket. The rack and pinion motor are meshed and connected. A position detection device is also installed on the clamping mechanism. A position detection device is used to detect whether the clamping band in the clamping mechanism is in contact with the water surface; A rack and pinion motor is used to stop rotating when the position detection device detects that the clamping belt has contacted the water surface.

7. The modular lotus root planting, maintenance, and harvesting integrated machine as described in claim 5, characterized in that, The cleaning mechanism includes a shaking basket support, a shaking basket, and a cleaning water gun. The shaking basket is connected to the shaking basket support and can move along the shaking basket support. The cleaning water gun is fixed to the upper end of the shaking basket and is used to spray water into the shaking basket. The shaking basket support is connected to the picking support.

8. The modular lotus root planting, maintenance, and harvesting integrated machine as described in claim 1, characterized in that, The maintenance mechanism includes a maintenance base and a mixing mechanism. The mixing mechanism includes a mixing mechanism support, a mixing power system, and mixing blades. The mixing mechanism support is connected to the maintenance base, and the maintenance base is connected to the traveling mechanism. Both the mixing blades and the mixing power system are connected to the mixing mechanism support, and the mixing blades can rotate around their own axis. The mixing power system is connected to the mixing blades.

9. The working method of a modular lotus root planting, maintenance, and harvesting integrated machine as described in any one of claims 1-8, characterized in that, include: When it is necessary to loosen the soil, the maintenance mechanism is connected to the walking mechanism. The walking mechanism moves while the maintenance mechanism is used to loosen the soil. When planting lotus seeds, the planting machine is connected to the walking mechanism. The walking mechanism moves, and the lotus seeds in the storage box enter the planting machine. The planting machine plants the lotus seeds in the soil. When harvesting lotus roots, the harvesting machine is connected to the traveling mechanism. The traveling mechanism moves, and the harvesting machine harvests the lotus roots from the soil and puts the collected lotus roots into the storage box of the traveling mechanism.

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